Wheel mounting system

ABSTRACT

A method and apparatus for installing a wheel arm assembly for an autonomous vehicle. The wheel arm assembly may be inserted into a base of the autonomous vehicle from the exterior of the base. A number of fasteners may be installed at the exterior of the base to attach the wheel arm assembly to the base of the autonomous vehicle.

RELATED PROVISIONAL APPLICATION

This application claims the benefit of U.S. Provisional PatentApplication Ser. No. 62/022,641, filed Jul. 9, 2014, and entitled“Automated Flexible Manufacturing System for Building a Fuselage.”

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is related to the following patent applications:entitled “Autonomous Flexible Manufacturing System for Building aFuselage,” Ser. No. 14/559,518; entitled “Mobile Platforms forPerforming Operations along an Exterior of a Fuselage Assembly,” Ser.No. 14/558,933; entitled “Mobile Platforms for Performing Operationsinside a Fuselage Assembly,” Ser. No. 14/559,073; entitled“Dual-Interface Coupler,” Ser. No. 14/559,153; entitled “Metrology-BasedSystem for Operating a Flexible Manufacturing System,” Ser. No.14/559,855; entitled “Clamping Feet for an End Effector,” Ser. No.14/559,191; entitled “Towers for Accessing an Interior of a FuselageAssembly,” Ser. No. 14/559,234; entitled “Assembly Fixture forSupporting a Fuselage Assembly,” Ser. No. 14/559,277; entitled“Adjustable Retaining Structure for a Cradle Fixture,” Ser. No.14/559,303; entitled “Utility Fixture for Creating a Distributed UtilityNetwork,” Ser. No. 14/559,371; and entitled “Two-Stage Riveting,” Ser.No. 14/559,483; filed of even date herewith, each of which claims thebenefit of U.S. Provisional Patent Application Ser. No. 62/022,641,filed Jul. 9, 2014 and entitled “Automated Flexible Manufacturing Systemfor Building a Fuselage,” each assigned to the same assignee, and eachincorporated herein by reference in its entirety.

BACKGROUND INFORMATION

1. Field

The present disclosure relates generally to vehicles and, in particular,to installation and removal of wheel arm assemblies from vehicles usedin manufacturing environments. Still more particularly, the disclosurerelates to a method and apparatus for installing and removing wheel armassemblies for vehicles used in manufacturing environments.

2. Background

Building a fuselage may include assembling skin panels and a supportstructure for the fuselage. The skin panels and support structure may bejoined together to form a fuselage assembly. For example, withoutlimitation, the skin panels may have support members, such as frames andstringers, attached to the surface of the skin panels that will face theinterior of the fuselage assembly. These support members may be used toform the support structure for the fuselage assembly. The skin panelsmay be positioned relative to each other and the support members may betied together to form this support structure.

Fastening operations may then be performed to join the skin panels andthe support members together to form the fuselage assembly. Thesefastening operations may include, for example, riveting operations,interference-fit bolting operations, other types of attachmentoperations, or some combination thereof. The fuselage assembly may needto be assembled in a manner that meets outer mold line (OML)requirements and inner mold line (IML) requirements for the fuselageassembly.

Some currently available methods for building a fuselage assembly may bemore labor-intensive, time-consuming, ergonomically challenging, orexpensive than desired. Further, some current assembly methods used tobuild fuselages may not allow fuselages to be built in the desiredassembly facilities or factories at desired assembly rates or desiredassembly costs.

With some currently available methods of assembly, performingmaintenance or repair on vehicles used during assembly in a factory mayrequire that the vehicles be moved to some location outside of thefactory. For example, performing maintenance or a repair on a wheel armassembly of a vehicle may require that the vehicle be moved to someother location for maintenance, a base of the vehicle be assembled, orthe vehicle be taken out of service during the maintenance or repair.Consequently, the time, cost, and effort of performing this type ofmaintenance or repair may be greater than desired.

In some cases, the current assembly methods and systems used to buildfuselages may require that these fuselages be built in facilities orfactories specifically designated and permanently configured forbuilding fuselages. These current assembly methods and systems may beunable to accommodate different types and shapes of fuselages. Forexample, without limitation, large and heavy equipment needed forbuilding fuselages may be permanently affixed to a factory andconfigured for use solely with fuselages of a specific type. Therefore,it would be desirable to have a method and apparatus that take intoaccount at least some of the issues discussed above, as well as otherpossible issues.

SUMMARY

In one illustrative embodiment, an apparatus may comprise a retainingstructure associated with a base of a vehicle and a wheel arm assemblycoupleable to the retaining structure at an exterior of the base.

In another illustrative embodiment, an apparatus may comprise a wheelarm assembly that is removably associated with a retaining structure inan autonomous vehicle at an externally-facing end of the retainingstructure.

In another illustrative embodiment, an autonomous vehicle may comprise abase, a plurality of retaining structures associated with the base, anda plurality of wheel systems coupled to the plurality of retainingstructures. A wheel system in the plurality of wheel systems maycomprise a wheel arm assembly, a hub assembly associated with the wheelarm of the wheel arm assembly, and an omnidirectional wheel associatedwith the hub assembly. The wheel arm assembly may comprise a retainerbushing having a first end and a second end. The retainer bushing may beattached to a first end of a retaining structure in the plurality ofretaining structures by a number of fasteners. The wheel arm assemblymay further comprise a wheel arm partially overlapped by the retainerbushing and a plate that is attached to the wheel arm at the second endof the retainer bushing such that the plate at least partially overlapsthe second end of the retainer bushing without overlapping a second endof the retaining structure such that an entirety of the wheel armassembly is removable from the retaining structure when the number offasteners attaching the retainer bushing to the retaining structure isremoved.

In another illustrative embodiment, an autonomous vehicle may comprise abase and a plurality of retaining structures associated with the base. Aretaining structure in the plurality of retaining structures maycomprise a first end, a second end, a channel that extends from thefirst end to the second end, and a number of openings at the first endconfigured to receive a number of fasteners for attaching a retainerbushing of the wheel arm assembly to the retaining structure. Thechannel may be configured to receive a wheel arm assembly.

In another illustrative embodiment, a method for installing a wheel armassembly for an autonomous vehicle may be presented. The wheel armassembly may be inserted into a base of the autonomous vehicle from theexterior of the base. A number of fasteners may be installed at theexterior of the base to attach the wheel arm assembly to the base of theautonomous vehicle.

In yet another illustrative embodiment, a method for installing a wheelarm assembly in a vehicle may be presented. The wheel arm assembly maybe inserted into a retaining structure associated with a base of thevehicle. A number of fasteners may be inserted to attach the wheel armassembly to the retaining structure at an exterior of the vehicle.

In yet another illustrative embodiment, a method for removing a wheelarm assembly from a vehicle may be presented. A number of fasteners maybe removed that attach the wheel arm assembly to a base of the vehiclefrom an exterior of the base of the vehicle. The wheel arm assembly maybe removed from the base of the vehicle.

In yet another illustrative embodiment, a method for assembling andinstalling a wheel arm assembly for an autonomous vehicle may bepresented. A sliding bushing may be inserted into a retainer bushing ata first end of the retainer bushing to press-fit the sliding bushingwithin the retainer bushing. A bearing may be positioned at the firstend of the retainer bushing. A wheel arm may be inserted into thesliding bushing at the first end of the retainer bushing such that afirst portion of the wheel arm is located within the sliding bushing anda second portion of the wheel arm extends past the first end of theretainer bushing and such that the bearing contacts the wheel arm, thesliding bushing, and the first end of the retainer bushing. A plate maybe attached to the wheel arm at a second end of the retainer bushingusing a set of fasteners such that the plate at least partially overlapsthe second end of the retainer bushing. The sliding bushing, theretainer bushing, the wheel arm, and the plate form the wheel armassembly. The wheel arm assembly may be inserted into a retainingstructure associated with a base of the autonomous vehicle in adirection from a first end of the retaining structure to a second end ofthe retaining structure. A number of fasteners may be installed toattach the first end of the retainer bushing of the wheel arm assemblyto the first end of the retaining structure.

The features and functions can be achieved independently in variousembodiments of the present disclosure or may be combined in yet otherembodiments in which further details can be seen with reference to thefollowing description and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features believed characteristic of the illustrativeembodiments are set forth in the appended claims. The illustrativeembodiments, however, as well as a preferred mode of use, furtherobjectives and features thereof, will best be understood by reference tothe following detailed description of an illustrative embodiment of thepresent disclosure when read in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is an illustration of a manufacturing environment in the form ofa block diagram in accordance with an illustrative embodiment;

FIG. 2 is an illustration of a fuselage assembly in the form of a blockdiagram in accordance with an illustrative embodiment;

FIG. 3 is an illustration of a plurality of mobile systems of a flexiblemanufacturing system within a manufacturing environment in the form of ablock diagram in accordance with an illustrative embodiment;

FIG. 4 is an illustration a plurality of mobile platforms in the form ofa block diagram in accordance with an illustrative embodiment;

FIG. 5 is an illustration of a flow of a number of utilities across adistributed utility network in the form of a block diagram in accordancewith an illustrative embodiment;

FIG. 6 is an illustration of a vehicle in the form of a block diagram inaccordance with an illustrative embodiment;

FIG. 7 is an illustration of an isometric view of a manufacturingenvironment in accordance with an illustrative embodiment;

FIG. 8 is an illustration of a first tower coupled to a utility fixturein accordance with an illustrative embodiment;

FIG. 9 is an illustration of an isometric view of a cradle system inaccordance with an illustrative embodiment;

FIG. 10 is an illustration of an isometric view of an assembly fixtureformed using a cradle system and coupled to a first tower in accordancewith an illustrative embodiment;

FIG. 11 is an illustration of an isometric view of one stage in theassembly process for building a fuselage assembly that is beingsupported by an assembly fixture in accordance with an illustrativeembodiment;

FIG. 12 is an illustration of an isometric view of another stage in theassembly process for building a fuselage assembly in accordance with anillustrative embodiment;

FIG. 13 is an illustration of an isometric view of another stage in theassembly process for building a fuselage assembly being supported by anassembly fixture in accordance with an illustrative embodiment;

FIG. 14 is an illustration of an isometric view of another stage in theassembly process for building a fuselage assembly in accordance with anillustrative embodiment;

FIG. 15 is an illustration of an isometric view of a second towercoupled to a utility fixture and an assembly fixture supporting afuselage assembly in accordance with an illustrative embodiment;

FIG. 16 is an illustration of an isometric cutaway view of a pluralityof mobile platforms performing fastening processes within an interior ofa fuselage assembly in accordance with an illustrative embodiment;

FIG. 17 is an illustration of a cross-sectional view of a flexiblemanufacturing system performing operations on a fuselage assembly inaccordance with an illustrative embodiment;

FIG. 18 is an illustration of an isometric view of a fully builtfuselage assembly in accordance with an illustrative embodiment;

FIG. 19 is an illustration of an isometric view of fuselage assembliesbeing built within a manufacturing environment in accordance with anillustrative embodiment;

FIG. 20 is an illustration of an isometric view of a portion of anautonomous vehicle in accordance with an illustrative embodiment;

FIG. 21 is an illustration of an enlarged isometric view of a wheelsystem without an omnidirectional wheel in accordance with anillustrative embodiment;

FIG. 22 is an illustration of a front view of a wheel system inaccordance with an illustrative embodiment;

FIG. 23 is an illustration of a cross-sectional view of a wheel systemcoupled to a base of a vehicle in accordance with an illustrativeembodiment;

FIG. 24 is an illustration of a process for installing a wheel armassembly for a vehicle in the form of flowchart in accordance with anillustrative embodiment;

FIG. 25 is an illustration of a process for removing a wheel armassembly from a vehicle in the form of flowchart in accordance with anillustrative embodiment;

FIG. 26 is an illustration of a process for assembling and installing awheel arm assembly for an autonomous vehicle in the form of flowchart inaccordance with an illustrative embodiment;

FIG. 27 is an illustration of an aircraft manufacturing and servicemethod in the form of a block diagram in accordance with an illustrativeembodiment; and

FIG. 28 is an illustration of an aircraft in the form of a block diagramin which an illustrative embodiment may be implemented.

DETAILED DESCRIPTION

The illustrative embodiments recognize and take into account differentconsiderations. For example, the illustrative embodiments recognize andtake into account that it may be desirable to automate the process ofbuilding a fuselage assembly for an aircraft. Automating the process ofbuilding a fuselage assembly for an aircraft may improve buildefficiency, improve build quality, and reduce costs associated withbuilding the fuselage assembly. The illustrative embodiments alsorecognize and take into account that automating the process of buildinga fuselage assembly may improve the accuracy and precision with whichassembly operations are performed, thereby ensuring improved compliancewith outer mold line (OML) requirements and inner mold line (IML)requirements for the fuselage assembly.

Further, the illustrative embodiments recognize and take into accountthat automating the process used to build a fuselage assembly for anaircraft may significantly reduce the amount of time needed for thebuild cycle. For example, without limitation, automating fasteningoperations may reduce and, in some cases, eliminate, the need for humanoperators to perform these fastening operations as well as other typesof assembly operations.

Further, this type of automation of the process for building a fuselageassembly for an aircraft may be less labor-intensive, time-consuming,ergonomically challenging, and expensive than performing this processprimarily manually. Reduced manual labor may have a desired benefit forthe human laborer. Additionally, automating the fuselage assemblyprocess may allow fuselage assemblies to be built in desired assemblyfacilities and factories at desired assembly rates and desired assemblycosts.

The illustrative embodiments also recognize and take into account thatit may be desirable to use equipment that can be autonomously driven andoperated to automate the process of building a fuselage assembly. Inparticular, it may be desirable to have an autonomous flexiblemanufacturing system comprised of mobile systems that may beautonomously driven across a factory floor, autonomously positionedrelative to the factory floor as needed for building the fuselageassembly, autonomously operated to build the fuselage assembly, and thenautonomously driven away when building of the fuselage assembly has beencompleted.

As used herein, performing any operation, action, or step autonomouslymay mean performing that operation substantially without any humaninput. For example, without limitation, a platform that may beautonomously driven is a platform that may be driven substantiallyindependently of any human input. In this manner, an autonomouslydrivable platform may be a platform that is capable of driving or beingdriven substantially independently of human input.

Thus, the illustrative embodiments provide a method, apparatus, andsystem for building a fuselage assembly for an aircraft. In particular,the illustrative embodiments provide an autonomous flexiblemanufacturing system that automates most, if not all, of the process ofbuilding a fuselage assembly. For example, without limitation, theautonomous flexible manufacturing system may automate the process ofinstalling fasteners to join fuselage skin panels and a fuselage supportstructure together to build the fuselage assembly.

However, the illustrative embodiments recognize and take into accountthat automating the process for building a fuselage assembly using anautonomous flexible manufacturing system may present unique technicalchallenges that require unique technical solutions. For example, theillustrative embodiments recognize and take into account that it may bedesirable to provide utilities to all of the various systems within theautonomous flexible manufacturing system. In particular, it may bedesirable to provide these utilities in a manner that will not disruptor delay the process of building the fuselage assembly or restrict themovement of various mobile systems within the autonomous flexiblemanufacturing system over a factory floor.

For example, without limitation, it may be desirable to provide a set ofutilities, such as power, communications, and air, to the autonomousflexible manufacturing system using an infrastructure that includes onlya single direct connection to each of a set of utility sources providingthe set of utilities. These direct connections may be above-ground,in-ground, or embedded. These direct connections may be establishedusing, for example, without limitation, a utility fixture. Thus, theinfrastructure may include a utility fixture that provides a directconnection to each of the set of utility sources and an assembly areawith a floor space sufficiently large to allow the various systems of anautonomous flexible manufacturing system to be coupled to the utilityfixture and each other in series. In this manner, the set of utilitiesmay flow from the set of utility sources to the utility fixture and thendownstream to the various systems of the autonomous flexiblemanufacturing system within the assembly area.

Thus, the illustrative embodiments provide a distributed utility networkthat may be used to provide utilities to the various systems of theautonomous flexible manufacturing system. The distributed utilitynetwork may provide these utilities in a manner that does not restrictor impede movement of the various mobile systems of the autonomousflexible manufacturing system. The different mobile systems of theautonomous flexible manufacturing system may be autonomously coupled toeach other to create this distributed utility network.

Referring now to the figures and, in particular, with reference to FIGS.1-6, illustrations of a manufacturing environment are depicted in theform of block diagrams in accordance with an illustrative embodiment. Inparticular, in FIGS. 1-6, a fuselage assembly, a flexible manufacturingsystem, the various systems within the flexible manufacturing systemthat may be used to build the fuselage assembly, and a distributedutility network are described.

Turning now to FIG. 1, an illustration of a manufacturing environment isdepicted in the form of a block diagram in accordance with anillustrative embodiment. In this illustrative example, manufacturingenvironment 100 may be an example of one environment in which at least aportion of fuselage 102 may be manufactured for aircraft 104.

Manufacturing environment 100 may take a number of different forms. Forexample, without limitation, manufacturing environment 100 may take theform of a factory, a manufacturing facility, an outdoor factory area, anenclosed manufacturing area, an offshore platform, or some other type ofmanufacturing environment 100 suitable for building at least a portionof fuselage 102.

Fuselage 102 may be built using manufacturing process 108. Flexiblemanufacturing system 106 may be used to implement at least a portion ofmanufacturing process 108. In one illustrative example, manufacturingprocess 108 may be substantially automated using flexible manufacturingsystem 106. In other illustrative examples, only one or more stages ofmanufacturing process 108 may be substantially automated.

Flexible manufacturing system 106 may be configured to perform at leasta portion of manufacturing process 108 autonomously. In this manner,flexible manufacturing system 106 may be referred to as autonomousflexible manufacturing system 112. In other illustrative examples,flexible manufacturing system 106 may be referred to as an automatedflexible manufacturing system.

As depicted, manufacturing process 108 may include assembly process 110for building fuselage assembly 114. Flexible manufacturing system 106may be configured to perform at least a portion of assembly process 110autonomously.

Fuselage assembly 114 may be fuselage 102 at any stage duringmanufacturing process 108 prior to the completion of manufacturingprocess 108. In some cases, fuselage assembly 114 may be used to referto a partially assembled fuselage 102. Depending on the implementation,one or more other components may need to be attached to fuselageassembly 114 to fully complete the assembly of fuselage 102. In othercases, fuselage assembly 114 may be used to refer to the fully assembledfuselage 102. Flexible manufacturing system 106 may build fuselageassembly 114 up to the point needed to move fuselage assembly 114 to anext stage in the manufacturing process for building aircraft 104. Insome cases, at least a portion of flexible manufacturing system 106 maybe used at one or more later stages in the manufacturing process forbuilding aircraft 104.

In one illustrative example, fuselage assembly 114 may be an assemblyfor forming a particular section of fuselage 102. As one example,fuselage assembly 114 may take the form of aft fuselage assembly 116 forforming an aft section of fuselage 102. In another example, fuselageassembly 114 may take the form of forward fuselage assembly 117 forforming a forward section of fuselage 102. In yet another example,fuselage assembly 114 may take the form of middle fuselage assembly 118for forming a center section of fuselage 102 or some other middlesection of fuselage 102 between the aft and forward sections of fuselage102.

As depicted, fuselage assembly 114 may include plurality of panels 120and support structure 121. Support structure 121 may be comprised ofplurality of members 122. Plurality of members 122 may be used to bothsupport plurality of panels 120 and connect plurality of panels 120 toeach other. Support structure 121 may help provide strength, stiffness,and load support for fuselage assembly 114.

Plurality of members 122 may be associated with plurality of panels 120.As used herein, when one component or structure is “associated” withanother component or structure, the association is a physicalassociation in the depicted examples.

For example, a first component, such as one of plurality of members 122,may be considered to be associated with a second component, such as oneof plurality of panels 120, by being at least one of secured to thesecond component, bonded to the second component, mounted to the secondcomponent, attached to the component, coupled to the component, weldedto the second component, fastened to the second component, adhered tothe second component, glued to the second component, or connected to thesecond component in some other suitable manner. The first component alsomay be connected to the second component using one or more othercomponents. For example, the first component may be connected to thesecond component using a third component. Further, the first componentmay be considered to be associated with the second component by beingformed as part of the second component, an extension of the secondcomponent, or both. In another example, the first component may beconsidered part of the second component by being co-cured with thesecond component.

As used herein, the phrase “at least one of,” when used with a list ofitems, means different combinations of one or more of the listed itemsmay be used and only one of the items in the list may be needed. Theitem may be a particular object, thing, action, process, or category. Inother words, “at least one of” means any combination of items or numberof items may be used from the list, but not all of the items in the listmay be required.

For example, “at least one of item A, item B, and item C” or “at leastone of item A, item B, or item C” may mean item A; item A and item B;item B; item A, item B, and item C; or item B and item C. In some cases,“at least one of item A, item B, and item C” may mean, for example,without limitation, two of item A, one of item B, and ten of item C;four of item B and seven of item C; or some other suitable combination.

In these illustrative examples, a member of plurality of members 122 maybe associated with at least one of plurality of panels 120 in a numberof different ways. For example, without limitation, a member ofplurality of members 122 may be attached directly to a single panel,attached to two or more panels, attached to another member that isdirectly attached to at least one panel, attached to at least one memberthat is directly or indirectly attached to at least one panel, orassociated with at least one of plurality of panels 120 in some otherway.

In one illustrative example, substantially all or all of plurality ofmembers 122 may be associated with plurality of panels 120 prior to thebeginning of assembly process 110 for building fuselage assembly 114.For example, a corresponding portion of plurality of members 122 may beassociated with each panel of plurality of panels 120 prior to pluralityof panels 120 being joined to each other through assembly process 110.

In another illustrative example, only a first portion of plurality ofmembers 122 may be associated with plurality of panels 120 prior to thebeginning of assembly process 110. Assembly process 110 may includeattaching a remaining portion of plurality of members 122 to pluralityof panels 120 for at least one of providing support to plurality ofpanels 120 or connecting plurality of panels 120 together. The firstportion of plurality of members 122 attached to plurality of panels 120prior to assembly process 110 and the remaining portion of plurality ofmembers 122 attached to plurality of panels 120 during assembly process110 may together form support structure 121.

In yet another illustrative example, all of plurality of members 122 maybe associated with plurality of panels 120 during assembly process 110.For example, each of plurality of panels 120 may be “naked” without anymembers attached to or otherwise associated with the panel prior toassembly process 110. During assembly process 110, plurality of members122 may then be associated with plurality of panels 120.

In this manner, support structure 121 for fuselage assembly 114 may bebuilt up in a number of different ways. Fuselage assembly 114 comprisingplurality of panels 120 and support structure 121 is described ingreater detail in FIG. 2 below.

Building fuselage assembly 114 may include joining plurality of panels120 together. Joining plurality of panels 120 may be performed in anumber of different ways. Depending on the implementation, joiningplurality of panels 120 together may include joining one or more ofplurality of members 122 to one or more of plurality of panels 120 or toother members of plurality of members 122.

In particular, joining plurality of panels 120 may include joining atleast one panel to at least one other panel, joining at least one memberto at least one other member, or joining at least one member to at leastone panel, or some combination thereof. As one illustrative example,joining a first panel and a second panel together may include at leastone of the following: fastening the first panel directly to the secondpanel, joining a first member associated with the first panel to asecond member associated with the second panel, joining a memberassociated with the first panel directly to the second panel, joiningone member associated with both the first panel and the second panel toanother member, joining a selected member to both the first panel andthe second panel, or some other type of joining operation.

Assembly process 110 may include operations 124 that may be performed tojoin plurality of panels 120 together to build fuselage assembly 114. Inthis illustrative example, flexible manufacturing system 106 may be usedto perform at least a portion of operations 124 autonomously.

Operations 124 may include, for example, but are not limited to,temporary connection operations 125, drilling operations 126, fastenerinsertion operations 128, fastener installation operations 130,inspection operations 132, other types of assembly operations, or somecombination thereof. Temporary connection operations 125 may beperformed to temporarily connect plurality of panels 120 together. Forexample, without limitation, temporary connection operations 125 mayinclude temporarily tacking plurality of panels 120 together using tackfasteners.

Drilling operations 126 may include drilling holes through one or moreof plurality of panels 120 and, in some cases, through one or more ofplurality of members 122. Fastener insertion operations 128 may includeinserting fasteners into the holes drilled by drilling operations 126.

Fastener installation operations 130 may include fully installing eachof the fasteners that have been inserted into the holes. Fastenerinstallation operations 130 may include, for example, withoutlimitation, riveting operations, interference-fit bolting operations,other types of fastener installation operations, or some combinationthereof. Inspection operations 132 may include inspecting the fullyinstalled fasteners. Depending on the implementation, flexiblemanufacturing system 106 may be used to perform any number of thesedifferent types of operations 124 substantially autonomously.

As depicted, flexible manufacturing system 106 may include plurality ofmobile systems 134, control system 136, and utility system 138. Each ofplurality of mobile systems 134 may be a drivable mobile system. In somecases, each of plurality of mobile systems 134 may be an autonomouslydrivable mobile system. For example, without limitation, each ofplurality of mobile systems 134 may include one or more components thatmay be autonomously driven within manufacturing environment 100 from onelocation to another location. Plurality of mobile systems 134 aredescribed in greater detail in FIG. 3 below.

In this illustrative example, control system 136 may be used to controlthe operation of flexible manufacturing system 106. For example, withoutlimitation, control system 136 may be used to control plurality ofmobile systems 134. In particular, control system 136 may be used todirect the movement of each of plurality of mobile systems 134 withinmanufacturing environment 100. Control system 136 may be at leastpartially associated with plurality of mobile systems 134.

In one illustrative example, control system 136 may include set ofcontrollers 140. As used herein, a “set of” items may include one ormore items. In this manner, set of controllers 140 may include one ormore controllers.

Each of set of controllers 140 may be implemented using hardware,firmware, software, or some combination thereof. In one illustrativeexample, set of controllers 140 may be associated with plurality ofmobile systems 134. For example, without limitation, one or more of setof controllers 140 may be implemented as part of plurality of mobilesystems 134. In other examples, one or more of set of controllers 140may be implemented independently of plurality of mobile systems 134.

Set of controllers 140 may generate commands 142 to control theoperation of plurality of mobile systems 134 of flexible manufacturingsystem 106. Set of controllers 140 may communicate with plurality ofmobile systems 134 using at least one of a wireless communications link,a wired communications link, an optical communications link, or othertype of communications link. In this manner, any number of differenttypes of communications links may be used for communication with andbetween set of controllers 140.

In these illustrative examples, control system 136 may control theoperation of plurality of mobile systems 134 using data 141 receivedfrom sensor system 133. Sensor system 133 may be comprised of any numberof individual sensor systems, sensor devices, controllers, other typesof components, or combination thereof. In one illustrative example,sensor system 133 may include laser tracking system 135 and radar system137. Laser tracking system 135 may be comprised of any number of lasertracking devices, laser targets, or combination thereof. Radar system137 may be comprised of any number of radar sensors, radar targets, orcombination thereof.

Sensor system 133 may be used to coordinate the movement and operationof the various mobile systems in plurality of mobile systems 134 withinmanufacturing environment 100. As one illustrative example, radar system137 may be used for macro-positioning mobile systems, systems withinmobile systems, components within mobile systems, or some combinationthereof. Further, laser tracking system 135 may be used formicro-positioning mobile systems, systems within mobile systems,components within mobile systems, or some combination thereof.

Plurality of mobile systems 134 may be used to form distributed utilitynetwork 144. Depending on the implementation, one or more of pluralityof mobile systems 134 may form distributed utility network 144. Numberof utilities 146 may flow from number of utility sources 148 to thevarious mobile systems of plurality of mobile systems 134 that make updistributed utility network 144.

In this illustrative example, each of number of utility sources 148 maybe located with manufacturing environment 100. In other illustrativeexamples, one or more of number of utility sources 148 may be locatedoutside of manufacturing environment 100. The corresponding utilityprovided by these one or more utility sources may then be carried intomanufacturing environment 100 using, for example, without limitation,one or more utility cables.

In one illustrative example, distributed utility network 144 may allownumber of utilities 146 to flow directly from number of utility sources148 to one mobile system in plurality of mobile systems 134 over somenumber of utility cables. This one mobile system may then distributenumber of utilities 146 to other mobile systems of plurality of mobilesystems 134 such that these other mobile systems do not need to directlyreceive number of utilities 146 from number of utility sources 148.

As depicted, distributed utility network 144 may be formed using utilitysystem 138. Utility system 138 may include utility fixture 150. Utilitysystem 138 may be configured to connect to number of utility sources 148such that number of utilities 146 may flow from number of utilitysources 148 to utility fixture 150. Utility fixture 150 may beabove-ground or in-ground, depending on the implementation. For example,without limitation, utility fixture 150 may be embedded in a floorwithin manufacturing environment 100.

Utility fixture 150 may then distribute number of utilities 146 to oneor more of plurality of mobile systems 134. In particular, oneautonomous coupling of one of plurality of mobile systems 134 to utilityfixture 150 may be followed by any number of autonomous couplings ofmobile systems to each other in series to form distributed utilitynetwork 144. Utility fixture 150 may distribute number of utilities 146to each of plurality of mobile systems 134 downstream of utility fixture150 in the series of autonomous couplings of the mobile systems.

Depending on the implementation, distributed utility network 144 mayhave a chain-like configuration or a tree-like configuration. In oneillustrative example, plurality of mobile systems 134 may include mobilesystems A, B, C, and D (not shown in figure) with mobile system Aautonomously coupled to utility fixture 150 and mobile systems B, C, andD autonomously coupled to mobile system A and each other in series. Anexample of a chain-like configuration for distributed utility network144 may include number of utilities 146 flowing from number of utilitysources 148 over some number of utility cables to utility fixture 150,from utility fixture 150 to mobile system A, from mobile system A tomobile system B, from mobile system B to mobile system C, and frommobile system C to mobile system D. An example of a tree-likeconfiguration for distributed utility network 144 may include number ofutilities 146 flowing from number of utility sources 148 over somenumber of utility cables to utility fixture 150, from utility fixture150 to mobile system A, from mobile system A to both mobile system B andmobile system C, and from mobile system C to mobile system D. An exampleof one manner in which distributed utility network 144 may beimplemented using plurality of mobile systems 134 is described ingreater detail in FIG. 5 below.

In some illustrative examples, multiple flexible manufacturing systemsmay be used to build multiple fuselage assemblies concurrently. Forexample, flexible manufacturing system 106 may be a first flexiblemanufacturing system of many flexible manufacturing systems.

In one illustrative example, flexible manufacturing system 106, secondflexible manufacturing system 152, and third flexible manufacturingsystem 154 may be used to build aft fuselage assembly 116, middlefuselage assembly 118, and forward fuselage assembly 117, respectively.Aft fuselage assembly 116, middle fuselage assembly 118, and forwardfuselage assembly 117 may then be joined together to form a fullyassembled fuselage 102. In this manner, in this example, flexiblemanufacturing system 106, second flexible manufacturing system 152, andthird flexible manufacturing system 154 may together form flexiblefuselage manufacturing system 158.

Thus, any number of fuselage assemblies, such as fuselage assembly 114,may be built within manufacturing environment 100 using any number offlexible manufacturing systems implemented in a manner similar toflexible manufacturing system 106. Similarly, any number of fullfuselages, such as fuselage 102, may be built within manufacturingenvironment 100 using any number of flexible fuselage manufacturingsystems implemented in a manner similar to flexible fuselagemanufacturing system 158.

With reference now to FIG. 2, an illustration of fuselage assembly 114from FIG. 1 is depicted in the form of a block diagram in accordancewith an illustrative embodiment. As described above, fuselage assembly114 may include plurality of panels 120 and support structure 121.Fuselage assembly 114 may be used to refer to any stage in the buildingof fuselage assembly 114. For example, fuselage assembly 114 may be usedto refer to a single one of plurality of panels 120, multiple ones ofplurality of panels 120 that have been or are being joined together, apartially built fuselage assembly, or a fully built fuselage assembly.

As depicted, fuselage assembly 114 may be built such that fuselageassembly 114 has plurality of fuselage sections 205. Each of pluralityof fuselage sections 205 may include one or more of plurality of panels120. In this illustrative example, each of plurality of fuselagesections 205 may take the form of a cylindrically-shaped fuselagesection, a barrel-shaped fuselage section, a tapered cylindricalfuselage section, a cone-shaped fuselage section, a dome-shaped fuselagesection, or a section having some other type of shape. Depending on theimplementation, a fuselage section of plurality of fuselage sections 205may have a shape that has a substantially circular cross-sectionalshape, elliptical cross-sectional shape, oval cross-sectional shape,polygon with rounded corners cross-sectional shape, or otherwiseclosed-curve cross-sectional shape.

As one specific illustrative example, each of plurality of fuselagesections 205 may be a portion of fuselage assembly 114 defined betweentwo radial cross-sections of fuselage assembly 114 that are takensubstantially perpendicular to a center axis or longitudinal axisthrough fuselage assembly 114. In this manner, plurality of fuselagesections 205 may be arranged along the longitudinal axis of fuselageassembly 114. In other words, plurality of fuselage sections 205 may bearranged longitudinally.

Fuselage section 207 may be an example of one of plurality of fuselagesections 205. Fuselage section 207 may be comprised of one or more ofplurality of panels 120. In one illustrative example, multiple panelsections may be arranged circumferentially around fuselage section 207to form the skin of fuselage section 207. In some cases, multiple rowsof two or more longitudinally adjacent panels may be arrangedcircumferentially around fuselage section 207 to form the skin offuselage section 207.

In one illustrative example, fuselage assembly 114 may have crown 200,keel 202, and sides 204. Sides 204 may include first side 206 and secondside 208.

Crown 200 may be the top portion of fuselage assembly 114. Keel 202 maybe the bottom portion of fuselage assembly 114. Sides 204 of fuselageassembly 114 may be the portions of fuselage assembly 114 between crown200 and keel 202. In one illustrative example, each of crown 200, keel202, first side 206, and second side 208 of fuselage assembly 114 may beformed by at least a portion of at least one of plurality of panels 120.Further, a portion of each of plurality of fuselage sections 205 mayform each of crown 200, keel 202, first side 206, and second side 208.

Panel 216 may be an example of one of plurality of panels 120. Panel 216may also be referred to as a skin panel, a fuselage panel, or a fuselageskin panel, depending on the implementation. In some illustrativeexamples, panel 216 may take the form of a mega-panel comprised ofmultiple smaller panels, which may be referred to as sub-panels. Amega-panel may also be referred to as a super panel. In theseillustrative examples, panel 216 may be comprised of at least one of ametal, a metal alloy, some other type of metallic material, a compositematerial, or some other type of material. As one illustrative example,panel 216 may be comprised of an aluminum alloy, steel, titanium, aceramic material, a composite material, some other type of material, orsome combination thereof.

When used to form keel 202 of fuselage assembly 114, panel 216 may bereferred to as a keel panel or a bottom panel. When used to form one ofsides 204 of fuselage assembly 114, panel 216 may be referred to as aside panel. When used to form crown 200 of fuselage assembly 114, panel216 may be referred to as a crown panel or a top panel. As oneillustrative example, plurality of panels 120 may include crown panels218 for forming crown 200, side panels 220 for forming sides 204, andkeel panels 222 for forming keel 202. Side panels 220 may include firstside panels 224 for forming first side 206 and second side panels 226for forming second side 208.

In one illustrative example, fuselage section 207 of plurality offuselage sections 205 of fuselage assembly 114 may include one of crownpanels 218, two of side panels 220, and one of keel panels 222. Inanother illustrative example, fuselage section 207 may form an end offuselage assembly 114.

In some cases, fuselage section 207 may be comprised solely of a singlepanel, such as panel 216. For example, without limitation, panel 216 maytake the form of end panel 228.

End panel 228 may be used to form one end of fuselage assembly 114. Forexample, when fuselage assembly 114 takes the form of aft fuselageassembly 116 in FIG. 1, end panel 228 may form the aftmost end offuselage assembly 114. When fuselage assembly 114 takes the form offorward fuselage assembly 117 in FIG. 1, end panel 228 may form theforwardmost end of fuselage assembly 114.

In one illustrative example, end panel 228 may take the form of acylindrically-shaped panel, a cone-shaped panel, a barrel-shaped panel,or a tapered cylindrical panel. For example, end panel 228 may be asingle cylindrically-shaped panel having a substantially circularcross-sectional shape that may change in diameter with respect to acenter axis for fuselage assembly 114.

In this manner, as described above, fuselage section 207 may becomprised solely of end panel 228. In some illustrative examples,fuselage section 207 may be an end fuselage section that is comprised ofonly a single panel, which may be end panel 228. In some cases, bulkhead272 may be associated with end panel 228 when fuselage section 207 is anend fuselage section. Bulkhead 272, which may also be referred to as apressure bulkhead, may be considered separate from or part of end panel228, depending on the implementation. Bulkhead 272 may have a dome-typeshape in these illustrative examples.

When fuselage assembly 114 takes the form of aft fuselage assembly 116in FIG. 1, bulkhead 272 may be part of fuselage section 207 located atthe aftmost end of aft fuselage assembly 116. When fuselage assembly 114takes the form of forward fuselage assembly 117 in FIG. 1, bulkhead 272may be part of fuselage section 207 located at forwardmost end of aftfuselage assembly 116. Middle fuselage assembly 118 in FIG. 1 may notinclude a bulkhead, such as bulkhead 272, at either end of middlefuselage assembly 118. In this manner, plurality of fuselage sections205 may be implemented in any number of different ways.

Panel 216 may have first surface 230 and second surface 232. Firstsurface 230 may be configured for use as an exterior-facing surface. Inother words, first surface 230 may be used to form exterior 234 offuselage assembly 114. Second surface 232 may be configured for use asan interior-facing surface. In other words, second surface 232 may beused to form interior 236 of fuselage assembly 114. Each of plurality ofpanels 120 may be implemented in a manner similar to panel 216.

As described earlier, support structure 121 may be associated with acorresponding one of plurality of panels 120. Support structure 121 maybe comprised of plurality of members 122 that are associated with panel216. In one illustrative example, corresponding portion 240 may be theportion of plurality of members 122 that correspond to panel 216.Corresponding portion 240 may form support section 238 corresponding topanel 216. Support section 238 may form a part of support structure 121.

Plurality of members 122 may include support members 242. Supportmembers 242 may include, for example, without limitation, at least oneof connecting members 244, frames 246, stringers 248, stiffeners 250,stanchions 252, intercostal structural members 254, or other types ofstructural members.

Connecting members 244 may connect other types of support members 242together. In some cases, connecting members 244 may also connect supportmembers 242 to plurality of panels 120. Connecting members 244 mayinclude, for example, without limitation, shear clips 256, ties 258,splices 260, intercostal connecting members 262, other types ofmechanical connecting members, or some combination thereof.

In one illustrative example, when panel 216 is comprised of multiplesub-panels, connecting members 244 may be used to, for example, withoutlimitation, connect together complementary frames of frames 246 runningin the hoop-wise direction on adjacent sub-panels and complementarystringers of stringers 248 running in the longitudinal direction onadjacent sub-panels. In other illustrative examples, connecting members244 may be used to connect together complementary frames, stringers, orother types of support members on two or more adjacent panels inplurality of panels 120. In some cases, connecting members 244 may beused to connect together complementary support members on two or moreadjacent fuselage sections.

Operations 124, as described in FIG. 1, may be performed to joinplurality of panels 120 together to build fuselage assembly 114. In oneillustrative example, plurality of fasteners 264 may be used to joinplurality of panels 120 together.

As described above, joining plurality of panels 120 together may beperformed in a number of different ways. Joining plurality of panels 120together may include at least one of joining at least one panel inplurality of panels 120 to another one of plurality of panels 120,joining at least one panel in plurality of panels 120 to at least one ofplurality of members 122, joining at least one member in plurality ofmembers 122 to another one of plurality of members 122, or some othertype of joining operation. Plurality of panels 120 may be joinedtogether such that plurality of members 122 ultimately form supportstructure 121 for fuselage assembly 114.

As depicted, number of floors 266 may be associated with fuselageassembly 114. In this illustrative example, number of floors 266 may bepart of fuselage assembly 114. Number of floors 266 may include, forexample, without limitation, at least one of a passenger floor, a cargofloor, or some other type of floor.

With reference now to FIG. 3, an illustration of plurality of mobilesystems 134 of flexible manufacturing system 106 within manufacturingenvironment 100 from FIG. 1 is depicted in the form of a block diagramin accordance with an illustrative embodiment. As depicted, flexiblemanufacturing system 106 may be used to build fuselage assembly 114 onfloor 300 of manufacturing environment 100. When manufacturingenvironment 100 takes the form of a factory, floor 300 may be referredto as factory floor 302.

In one illustrative example, floor 300 may be substantially smooth andsubstantially planar. For example, floor 300 may be substantially level.In other illustrative examples, one or more portions of floor 300 may besloped, ramped, or otherwise uneven.

Assembly area 304 may be an area within manufacturing environment 100designated for performing assembly process 110 in FIG. 1 to build afuselage assembly, such as fuselage assembly 114. Assembly area 304 mayalso be referred to as a cell or a work cell. In this illustrativeexample, assembly area 304 may be a designated area on floor 300.However, in other illustrative examples, assembly area 304 may include adesignated area on floor 300 as well as the area above this designatedarea. Any number of assembly areas may be present within manufacturingenvironment 100 such that any number of fuselage assemblies may be builtconcurrently within manufacturing environment 100.

As depicted, plurality of mobile systems 134 may include plurality ofautonomous vehicles 306, cradle system 308, tower system 310, andautonomous tooling system 312. Each of plurality of mobile systems 134may be drivable across floor 300. In other words, each of plurality ofmobile systems 134 may be capable of being autonomously driven acrossfloor 300 from one location 315 to another location 317 on floor 300.

In one illustrative example, each of plurality of autonomous vehicles306 may take the form of an automated guided vehicle (AGV), which may becapable of operating independently without human direction or guidance.In some cases, plurality of autonomous vehicles 306 may be referred toas a plurality of automated guided vehicles (AGVs).

In this illustrative example, cradle system 308 may be used to supportand hold fuselage assembly 114 during assembly process 110 in FIG. 1. Insome cases, cradle system 308 may be referred to as a drivable cradlesystem. In still other cases, cradle system 308 may be referred to as anautonomously drivable cradle system.

Cradle system 308 may include number of fixtures 313. As used herein, a“number of” items may include one or more items. In this manner, numberof fixtures 313 may include one or more fixtures. In some illustrativeexamples, number of fixtures 313 may be referred to as a number ofdrivable fixtures. In other illustrative examples, number of fixtures313 may be referred to as a number of autonomously drivable fixtures.

Number of fixtures 313 may include number of cradle fixtures 314. Insome illustrative examples, number of cradle fixtures 314 may bereferred to as a number of drivable cradle fixtures. In otherillustrative examples, number of cradle fixtures 314 may be referred toas a number of autonomously drivable cradle fixtures. Cradle fixture 322may be an example of one of number of cradle fixtures 314.

Number of retaining structures 326 may be associated with each of numberof cradle fixtures 314. Number of retaining structures 326 associatedwith each of number of cradle fixtures 314 may be engaged with and usedto support fuselage assembly 114. For example, number of retainingstructures 326 associated with cradle fixture 322 may be engaged withand used to support one or more of plurality of panels 120.

Number of cradle fixtures 314 may be autonomously driven across floor300 of manufacturing environment 100 to assembly area 304. In oneillustrative example, each of number of cradle fixtures 314 may beautonomously driven across floor 300 using a corresponding one ofplurality of autonomous vehicles 306. In other words, withoutlimitation, number of corresponding autonomous vehicles 316 in pluralityof autonomous vehicles 306 may be used to drive number of cradlefixtures 314 across floor 300 into assembly area 304.

In this illustrative example, number of corresponding autonomousvehicles 316 may drive from, for example, without limitation, holdingarea 318, across floor 300, to assembly area 304. Holding area 318 maybe an area in which at least one of plurality of autonomous vehicles306, cradle system 308, tower system 310, autonomous tooling system 312,or control system 136 from FIG. 1 may be held when flexiblemanufacturing system 106 is not in use or when that particular device orsystem is not in use.

Holding area 318 may be referred to as a home area, a storage area, or abase area, depending on the implementation. Although holding area 318 isdepicted as being located within manufacturing environment 100, holdingarea 318 may be located in some other area or environment outside ofmanufacturing environment 100 in other illustrative examples.

Number of corresponding autonomous vehicles 316 in plurality ofautonomous vehicles 306 may drive number of cradle fixtures 314 intonumber of selected cradle positions 320. As used herein, a “position”may be comprised of a location, an orientation, or both. The locationmay be in two-dimensional coordinates or three-dimensional coordinateswith respect to a reference coordinate system. The orientation may be atwo-dimensional or three-dimensional orientation with respect to areference coordinate system. This reference coordinate system may be,for example, without limitation, a fuselage coordinate system, anaircraft coordinate system, a coordinate system for manufacturingenvironment 100, or some other type of coordinate system.

When number of cradle fixtures 314 includes more than one cradle fixturesuch that number of selected cradle positions 320 includes more than onecradle position, these cradle positions may be positions selectedrelative to each other. In this manner, number of cradle fixtures 314may be positioned such that number of cradle fixtures 314 are in numberof selected cradle positions 320 relative to each other.

In these illustrative examples, number of corresponding autonomousvehicles 316 may be used to drive number of cradle fixtures 314 intonumber of selected cradle positions 320 within assembly area 304.“Driving” a component or a system across floor 300 may mean, forexample, but not limited to, moving substantially the entirety of thatcomponent or system from one location to another location. For example,without limitation, driving cradle fixture 322 across floor 300 may meanmoving the entirety of cradle fixture 322 from one location to anotherlocation. In other words, all or substantially all components thatcomprise cradle fixture 322 may be simultaneously moved together fromone location to another location.

Once number of cradle fixtures 314 has been driven into number ofselected cradle positions 320 in assembly area 304, number of cradlefixtures 314 may be coupled to each other and to tower system 310.Number of corresponding autonomous vehicles 316 may then drive away fromnumber of cradle fixtures 314 to, for example, without limitation,holding area 318, once number of cradle fixtures 314 is positioned innumber of selected cradle positions 320 within selected tolerances. Inother illustrative examples, number of corresponding autonomous vehicles316 may be comprised of a single autonomous vehicle that is used todrive each of number of cradle fixtures 314 into a correspondingselected position in number of selected cradle positions 320 withinassembly area 304 one at a time.

In assembly area 304, number of cradle fixtures 314 may be configured toform assembly fixture 324. Assembly fixture 324 may be formed when thedifferent cradle fixtures in number of cradle fixtures 314 have beenplaced in number of selected cradle positions 320 relative to eachother. In some cases, assembly fixture 324 may be formed when number ofcradle fixtures 314 have been coupled to each other while number ofcradle fixtures 314 is in number of selected cradle positions 320 andwhen number of retaining structures 326 associated with each of numberof cradle fixtures 314 has been adjusted to receive fuselage assembly114.

In this manner, number of cradle fixtures 314 may form a single fixtureentity, such as assembly fixture 324. Assembly fixture 324 may be usedto support and hold fuselage assembly 114. In some cases, assemblyfixture 324 may be referred to as an assembly fixture system or afixture system. In some cases, assembly fixture 324 may be referred toas a drivable assembly fixture. In other cases, assembly fixture 324 maybe referred to as an autonomously drivable assembly fixture.

Once assembly fixture 324 has been formed, number of cradle fixtures 314may receive fuselage assembly 114. In other words, plurality of fuselagesections 205 may be engaged with number of cradle fixtures 314. Inparticular, plurality of fuselage sections 205 may be engaged withnumber of retaining structures 326 associated with each of number ofcradle fixtures 314. Plurality of fuselage sections 205 may be engagedwith number of cradle fixtures 314 in any number of ways.

When number of cradle fixtures 314 includes a single cradle fixture,that cradle fixture may be used to support and hold substantially theentire fuselage assembly 114. When number of cradle fixtures 314includes multiple cradle fixtures, each of these cradle fixtures may beused to support and hold at least one corresponding fuselage section ofplurality of fuselage sections 205.

In one illustrative example, each of plurality of fuselage sections 205may be engaged with number of cradle fixtures 314 one at a time. Forexample, without limitation, all of the panels for a particular fuselagesection in plurality of fuselage sections 205 may be positioned relativeto each other and a corresponding cradle fixture in number of cradlefixtures 314 and then engaged with the corresponding cradle fixture. Theremaining fuselage sections in plurality of fuselage sections 205 maythen be formed and engaged with number of cradle fixtures 314 in asimilar manner. In this manner, plurality of panels 120 may be engagedwith number of cradle fixtures 314 by engaging at least a portion ofplurality of panels 120 with number of retaining structures 326associated with each of number of cradle fixtures 314 that makes upassembly fixture 324 such that plurality of panels 120 is supported bynumber of cradle fixtures 314.

As described in FIG. 2, plurality of panels 120 may include keel panels222, side panels 220, and crown panels 218. In one illustrative example,all of keel panels 222 in FIG. 2 used to form keel 202 of fuselageassembly 114 in FIG. 2 may first be positioned relative to and engagedwith number of cradle fixtures 314. Next, all of side panels 220 in FIG.2 used to form sides 204 of fuselage assembly 114 in FIG. 2 may bepositioned relative to and engaged with keel panels 222. Then, all ofcrown panels 218 in FIG. 2 used to form crown 200 of fuselage assembly114 in FIG. 2 may be positioned relative to and engaged with side panels220. In this manner, plurality of fuselage sections 205 may beconcurrently assembled to form fuselage assembly 114.

In one illustrative example, each panel in plurality of panels 120 mayhave a corresponding portion of plurality of members 122 fully formedand associated with the panel prior to the panel being engaged with oneof number of cradle fixtures 314. This corresponding portion ofplurality of members 122 may be referred to as a support section. Forexample, support section 238 in FIG. 2 may be fully formed andassociated with panel 216 in FIG. 2 prior to panel 216 being engagedwith one of number of cradle fixtures 314 or another panel of pluralityof panels 120 in FIG. 2. In other words, a corresponding portion ofsupport members 242 in FIG. 2 may already be attached to panel 216 and acorresponding portion of connecting members 244 in FIG. 2 alreadyinstalled to connect this portion of support members 242 to each otherprior to panel 216 from FIG. 2 being engaged with one of number ofcradle fixtures 314.

In other illustrative examples, plurality of members 122 may beassociated with plurality of panels 120 after plurality of panels 120have been engaged with each other and number of cradle fixtures 314. Instill other illustrative examples, only a portion of plurality ofmembers 122 may be associated with plurality of panels 120 prior toplurality of panels 120 being engaged with each other and number ofcradle fixtures 314 and then a remaining portion of plurality of members122 associated with plurality of panels 120 once plurality of panels 120have been engaged with each other and number of cradle fixtures 314.

In some illustrative examples, one or more of support members 242 inFIG. 2, one or more of connecting members 244 in FIG. 2, or both may notbe associated with panel 216 when panel 216 from FIG. 2 is engaged withone of number of cradle fixtures 314 or with one of the other panels inplurality of panels 120. For example, without limitation, frames 246described in FIG. 2 may be added to panel 216 from FIG. 2 after panel216 has been engaged with cradle fixture 322. In another example,stiffeners 250 described in FIG. 2 may be added to panel 216 from FIG. 2after panel 216 has been engaged with cradle fixture 322.

Building fuselage assembly 114 may include engaging plurality of panels120 with each other as plurality of panels 120 are built up on number ofcradle fixtures 314 of assembly fixture 324. For example, adjacentpanels in plurality of panels 120 may be connected by connecting atleast a portion of the support members associated with the panels.Depending on the implementation, at least one of lap splices, buttsplices, or other types of splices may be used to connect the adjacentpanels in addition to or in place of connecting the correspondingsupport members of the adjacent panels.

As one illustrative example, the support members associated with twoadjacent panels in plurality of panels 120 may be connected togetherusing connecting members, thereby connecting the two adjacent panels.The two support members associated with these two adjacent panels maybe, for example, without limitation, spliced, tied, clipped, tacked,pinned, joined, or fastened together in some other manner. When the twoadjacent panels are hoop-wise adjacent, complementary frames may beconnected in the hoop-wise direction. When the two adjacent panels arelongitudinally adjacent, complementary stringers may be connected in thelongitudinal direction.

In some cases, connecting complementary stringers, frames, or othersupport members on these two adjacent panels may be part of splicingthese panels together. Adjacent panels may be connected together usingany number of panel splices, stringer splices, frame splices, or othertypes of splices.

In one illustrative example, plurality of panels 120 may be temporarilyconnected to each other by temporarily fastening at least one ofplurality of panels 120 or plurality of members 122 together usingtemporary fasteners or permanent fasteners. For example, withoutlimitation, temporary clamps may be used to temporarily connect and holdin place two of plurality of panels 120 together. Temporarily connectingplurality of panels 120 together may be performed by at least one oftemporarily connecting at least two plurality of panels 120 together,temporarily connecting at least two plurality of members 122 together,or temporarily connecting at least one of plurality of panels 120 to atleast one of plurality of members 122 such that plurality of members 122associated with plurality of panels 120 forms support structure 121 inFIG. 2 for fuselage assembly 114.

As one illustrative example, plurality of panels 120 may be temporarilytacked or pinned together using temporary fasteners 328 until pluralityof fasteners 264 are installed to join plurality of panels 120 togetherto form fuselage assembly 114. Temporarily connecting plurality ofpanels 120 may temporarily connect together plurality of fuselagesections 205 from FIG. 2 formed by plurality of panels 120. Onceplurality of fasteners 264 have been installed, temporary fasteners 328may then be removed.

In this manner, plurality of panels 120 may be connected together in anumber of different ways. Once plurality of panels 120 have beenconnected together, plurality of members 122 may be considered asforming support structure 121 for fuselage assembly 114. Connectingplurality of panels 120 together and forming support structure 121 maymaintain desired compliance with outer mold line requirements and innermold line requirements for fuselage assembly 114. In other words,plurality of panels 120 may be held together in place relative to eachother such that fuselage assembly 114 formed using plurality of panels120 meets outer mold line requirements and inner mold line requirementsfor fuselage assembly 114 within selected tolerances.

In particular, assembly fixture 324 may support plurality of panels 120and support structure 121 associated with plurality of panels 120 suchthat fuselage assembly 114 built using plurality of panels 120 andsupport structure 121 has a shape and a configuration that is withinselected tolerances. In this manner, this shape and configuration may bemaintained within selected tolerances while supporting plurality ofpanels 120 and plurality of members 122 associated with plurality ofpanels 120 during the building of fuselage assembly 114. This shape maybe at least partially determined by, for example, without limitation,the outer mold line requirements and inner mold line requirements forfuselage assembly 114. In some cases, the shape may be at leastpartially determined by the location and orientation of the frames andstringers of fuselage assembly 114.

In some cases, when the assembly of plurality of panels 120 and supportstructure 121 that comprise fuselage assembly 114 has reached a desiredpoint, number of corresponding autonomous vehicles 316 may driveassembly fixture 324 out of assembly area 304. For example, fuselageassembly 114 may be driven across floor 300 into a different area withinmanufacturing environment 100, from floor 300 onto another floor in adifferent manufacturing environment, or from floor 300 onto anotherfloor in some other area or environment.

In one illustrative example, assembly fixture 324 may be driven to someother location at which another assembly fixture is located such thatthe two assembly fixtures may be coupled to form a larger assemblyfixture. As one illustrative example, assembly fixture 324 may be usedto hold and support aft fuselage assembly 116 in FIG. 1, while anotherassembly fixture implemented in a manner similar to assembly fixture 324may be used to hold and support forward fuselage assembly 117 in FIG. 1.Yet another assembly fixture implemented in a manner similar to assemblyfixture 324 may be used to hold and support middle fuselage assembly 118in FIG. 1.

Once these three fuselage assemblies have been built, the three assemblyfixtures may be brought together to form a larger assembly fixture forholding aft fuselage assembly 116, middle fuselage assembly 118, andforward fuselage assembly 117 such that these three fuselage assembliesmay be joined to form fuselage 102 described in FIG. 1. In particular,this larger assembly fixture may hold aft fuselage assembly 116, middlefuselage assembly 118, and forward fuselage assembly 117 in alignmentwith each other such that fuselage 102 may be built within selectedtolerances.

In another illustrative example, a first assembly fixture and a secondassembly fixture implemented in a manner similar to assembly fixture 324may be used to hold and support aft fuselage assembly 116 and forwardfuselage assembly 117, respectively, from FIG. 1. Once these twofuselage assemblies have been built, the two assembly fixtures may thenbe brought together to form a larger assembly fixture for holding thetwo fuselage assemblies such that these fuselage assemblies may bejoined to form fuselage 102. The larger assembly fixture may hold aftfuselage assembly 116 and forward fuselage assembly 117 in alignmentwith each other such that fuselage 102 may be built within selectedtolerances.

As depicted, tower system 310 includes number of towers 330. Tower 332may be an example of one implementation for one of number of towers 330.Tower 332 may be configured to provide access to interior 236 offuselage assembly 114 described in FIG. 2. In some illustrativeexamples, tower 332 may be referred to as a drivable tower. In otherillustrative examples, tower 332 may be referred to as an autonomouslydrivable tower.

In one illustrative example, tower 332 may take the form of first tower334. First tower 334 may also be referred to as an operator tower insome cases. In another illustrative example, tower 332 may take the formof second tower 336. Second tower 336 may also be referred to as arobotics tower in some cases. In this manner, number of towers 330 mayinclude both first tower 334 and second tower 336.

First tower 334 may be configured substantially for use by a humanoperator, whereas second tower 336 may be configured substantially foruse by a mobile platform having at least one robotic device associatedwith the mobile platform. In other words, first tower 334 may allow ahuman operator to access and enter interior 236 of fuselage assembly114. Second tower 336 may allow a mobile platform to access and enterinterior 236 of fuselage assembly 114.

First tower 334 and second tower 336 may be positioned relative toassembly fixture 324 at different times during assembly process 110. Asone illustrative example, one of plurality of autonomous vehicles 306may be used to move or autonomously drive first tower 334 from holdingarea 318 into selected tower position 338 within assembly area 304.Number of cradle fixtures 314 may then be autonomously driven, usingnumber of corresponding autonomous vehicles 316, into number of selectedcradle positions 320 relative to first tower 334, which is in selectedtower position 338 within assembly area 304.

Second tower 336 may be exchanged for first tower 334 at some laterstage during assembly process 110 in FIG. 1. For example, one ofplurality of autonomous vehicles 306 may be used to autonomously drivefirst tower 334 out of assembly area 304 and back into holding area 318.The same autonomous vehicle or a different autonomous vehicle inplurality of autonomous vehicles 306 may then be used to autonomouslydrive second tower 336 from holding area 318 into selected towerposition 338 within assembly area 304 that was previously occupied byfirst tower 334. Depending on the implementation, first tower 334 may belater exchanged for second tower 336.

In other illustrative examples, first tower 334 and second tower 336 mayeach have an autonomous vehicle in plurality of autonomous vehicles 306fixedly associated with the tower. In other words, one of plurality ofautonomous vehicles 306 may be integrated with first tower 334 and oneof plurality of autonomous vehicles 306 may be integrated with secondtower 336. For example, one of plurality of autonomous vehicles 306 maybe considered part of or built into first tower 334. First tower 334 maythen be considered capable of autonomously driving across floor 300. Ina similar manner, one of plurality of autonomous vehicles 306 may beconsidered part of or built into second tower 336. Second tower 336 maythen be considered capable of autonomously driving across floor 300.

Tower system 310 and assembly fixture 324 may be configured to forminterface 340 with each other. Interface 340 may be a physical interfacebetween tower system 310 and assembly fixture 324. Tower system 310 mayalso be configured to form interface 342 with utility system 138. In oneillustrative example, interface 340 and interface 342 may beautonomously formed.

Interface 342 may be a physical interface between tower system 310 andutility system 138. In these illustrative examples, in addition to beingphysical interfaces, interface 340 and interface 342 may also be utilityinterfaces. For example, with respect to the utility of power, interface340 and interface 342 may be considered electrical interfaces.

Utility system 138 is configured to distribute number of utilities 146to tower system 310 when tower system 310 and utility system 138 arephysically and electrically coupled through interface 342. Tower system310 may then distribute number of utilities 146 to assembly fixture 324formed by cradle system 308 when assembly fixture 324 and tower system310 are physically and electrically coupled through interface 340.Number of utilities 146 may include at least one of power, air,hydraulic fluid, communications, water, or some other type of utility.

As depicted, utility system 138 may include utility fixture 150. Utilityfixture 150 may be configured to receive number of utilities 146 fromnumber of utility sources 148. Number of utility sources 148 mayinclude, for example, without limitation, at least one of a powergenerator, a battery system, a water system, an electrical line, acommunications system, a hydraulic fluid system, an air tank, or someother type of utility source. For example, utility fixture 150 mayreceive power from a power generator.

In one illustrative example, utility fixture 150 may be positionedrelative to assembly area 304. Depending on the implementation, utilityfixture 150 may be positioned inside assembly area 304 or outside ofassembly area 304.

In some illustrative examples, utility fixture 150 may be associatedwith floor 300. Depending on the implementation, utility fixture 150 maybe permanently associated with floor 300 or temporarily associated withfloor 300. In other illustrative examples, utility fixture 150 may beassociated with some other surface of manufacturing environment 100,such as a ceiling, or some other structure in manufacturing environment100. In some cases, utility fixture 150 may be embedded within floor300.

In one illustrative example, first tower 334 may be autonomously driveninto selected tower position 338 with respect to floor 300 relative toutility fixture 150 such that interface 342 may be formed between firsttower 334 and utility fixture 150. Once interface 342 has been formed,number of utilities 146 may flow from utility fixture 150 to first tower334. Assembly fixture 324 may then autonomously form interface 340 withfirst tower 334 to form a network of utility cables between first tower334 and assembly fixture 324. Once both interface 342 and interface 340have been formed, number of utilities 146 received at utility fixture150 may flow from utility fixture 150 to first tower 334 and to each ofnumber of cradle fixtures 314 that forms assembly fixture 324. In thismanner, first tower 334 may function as a conduit or “middleman” fordistributing number of utilities 146 to assembly fixture 324.

When interface 340 has been formed between second tower 336 and assemblyfixture 324 and interface 342 has been formed between second tower 336and utility fixture 150, number of utilities 146 may be provided tosecond tower 336 and assembly fixture 324 in a similar manner asdescribed above. Thus, utility fixture 150 may distribute number ofutilities 146 to tower system 310 and assembly fixture 324 without towersystem 310 and cradle assembly fixture 324 having to separately connectto number of utility sources 148 or any other utility sources.

Autonomous tooling system 312 may be used to assemble plurality ofpanels 120 and support structure 121 while fuselage assembly 114 isbeing supported and held by assembly fixture 324. Autonomous toolingsystem 312 may include plurality of mobile platforms 344. Each ofplurality of mobile platforms 344 may be configured to perform one ormore of operations 124 in assembly process 110 described in FIG. 1. Inparticular, plurality of mobile platforms 344 may be autonomously driveninto selected positions relative to plurality of panels 120 withinselected tolerances to autonomously perform operations 124 that joinplurality of panels 120 together to build fuselage assembly 114.Plurality of mobile platforms 344 are described in greater detail inFIG. 4 below.

In this illustrative example, set of controllers 140 in control system136 may generate commands 142 as described in FIG. 1 to control theoperation of at least one of cradle system 308, tower system 310,utility system 138, autonomous tooling system 312, or plurality ofautonomous vehicles 306. Set of controllers 140 in FIG. 1 maycommunicate with at least one of cradle system 308, tower system 310,utility system 138, autonomous tooling system 312, or plurality ofautonomous vehicles 306 using any number of wireless communicationslinks, wired communications links, optical communications links, othertypes of communications links, or combination thereof.

In this manner, plurality of mobile systems 134 of flexiblemanufacturing system 106 may be used to automate the process of buildingfuselage assembly 114. Plurality of mobile systems 134 may enablefuselage assembly 114 to be built substantially autonomously withrespect to joining together plurality of panels 120 to reduce theoverall time, effort, and human resources needed.

Flexible manufacturing system 106 may build fuselage assembly 114 up tothe point needed to move fuselage assembly 114 to the next stage inmanufacturing process 108 for building fuselage 102 or the next stage inthe manufacturing process for building aircraft 104, depending on theimplementation. In some cases, cradle system 308 in the form of assemblyfixture 324 may continue carrying and supporting fuselage assembly 114during one or more of these later stages in manufacturing process 108for building fuselage 102 and aircraft 104.

With reference now to FIG. 4, an illustration of plurality of mobileplatforms 344 from FIG. 3 is depicted in the form of a block diagram inaccordance with an illustrative embodiment. As depicted, plurality ofmobile platforms 344 may include number of external mobile platforms 400and number of internal mobile platforms 402. In this manner, pluralityof mobile platforms 344 may include at least one external mobileplatform and at least one internal mobile platform.

In some illustrative examples, number of external mobile platforms 400may be referred to as a number of drivable external mobile platforms.Similarly, in some cases, number of internal mobile platforms 402 may bereferred to as a number of drivable internal mobile platforms. In otherillustrative examples, number of external mobile platforms 400 andnumber of internal mobile platforms 402 may be referred to as a numberof autonomously drivable external mobile platforms and a number ofautonomously drivable internal mobile platforms, respectively.

External mobile platform 404 may be an example of one of number ofexternal mobile platforms 400 and internal mobile platform 406 may be anexample of one of number of internal mobile platforms 402. Externalmobile platform 404 and internal mobile platform 406 may be platformsthat are autonomously drivable. Depending on the implementation, each ofexternal mobile platform 404 and internal mobile platform 406 may beconfigured to autonomously drive across floor 300 on its own or with theassistance of one of plurality of autonomous vehicles 306 from FIG. 3.

As one illustrative example, without limitation, external mobileplatform 404 may be autonomously driven across floor 300 using acorresponding one of plurality of autonomous vehicles 306. In someillustrative examples, external mobile platform 404 and thiscorresponding one of plurality of autonomous vehicles 306 may beintegrated with each other. For example, the autonomous vehicle may befixedly associated with external mobile platform 404. An entire load ofexternal mobile platform 404 may be transferable to the autonomousvehicle such that driving the autonomous vehicle across floor 300 drivesexternal mobile platform 404 across floor 300.

External mobile platform 404 may be driven from, for example, withoutlimitation, holding area 318 to a position relative to exterior 234 offuselage assembly 114 to perform one or more operations 124 in FIG. 1.As depicted, at least one external robotic device 408 may be associatedwith external mobile platform 404. In this illustrative example,external robotic device 408 may be considered part of external mobileplatform 404. In other illustrative examples, external robotic device408 may be considered a separate component that is physically attachedto external mobile platform 404. External robotic device 408 may takethe form of, for example, without limitation, a robotic arm.

External robotic device 408 may have first end effector 410. Any numberof tools may be associated with first end effector 410. These tools mayinclude, for example, without limitation, at least one of a drillingtool, a fastener insertion tool, a fastener installation tool, aninspection tool, or some other type of tool. In particular, any numberof fastening tools may be associated with first end effector 410.

As depicted, first tool 411 may be associated with first end effector410. In one illustrative example, first tool 411 may be any tool that isremovably associated with first end effector 410. In other words, firsttool 411 associated with first end effector 410 may be changed asvarious operations need to be performed. For example, withoutlimitation, first tool 411 may take the form of one type of tool, suchas a drilling tool, to perform one type of operation. This tool may thenbe exchanged with another type of tool, such as a fastener insertiontool, to become the new first tool 411 associated with first endeffector 410 to perform a different type of operation.

In one illustrative example, first tool 411 may take the form of firstriveting tool 412. First riveting tool 412 may be used to performriveting operations. In some illustrative examples, a number ofdifferent tools may be exchanged with first riveting tool 412 andassociated with first end effector 410. For example, without limitation,first riveting tool 412 may be exchangeable with a drilling tool, afastener insertion tool, a fastener installation tool, an inspectiontool, or some other type of tool.

External mobile platform 404 may be autonomously driven across floor 300and positioned relative to assembly fixture 324 in FIG. 3 supportingfuselage assembly 114 to position first end effector 410 and first tool411 associated with first end effector 410 relative to one of pluralityof panels 120. For example, external mobile platform 404 may beautonomously driven across floor 300 to external position 414 relativeto assembly fixture 324. In this manner, first tool 411 carried byexternal mobile platform 404 may be macro-positioned using externalmobile platform 404.

Once in external position 414, first end effector 410 may beautonomously controlled using at least external robotic device 408 toposition first tool 411 associated with first end effector 410 relativeto a particular location on an exterior-facing side of one of pluralityof panels 120. In this manner, first tool 411 may be micro-positionedrelative to the particular location.

Internal mobile platform 406 may be located on second tower 336 in FIG.3 when internal mobile platform 406 is not in use. When interface 342described in FIG. 3 is formed between second tower 336 and assemblyfixture 324, internal mobile platform 406 may be driven from secondtower 336 into interior 236 of fuselage assembly 114 and used to performone or more of operations 124. In one illustrative example, internalmobile platform 406 may have a movement system that allows internalmobile platform 406 to move from second tower 336 onto a floor insidefuselage assembly 114.

At least one internal robotic device 416 may be associated with internalmobile platform 406. In this illustrative example, internal roboticdevice 416 may be considered part of internal mobile platform 406. Inother illustrative examples, internal robotic device 416 may beconsidered a separate component that is physically attached to internalmobile platform 406. Internal robotic device 416 may take the form of,for example, without limitation, a robotic arm.

Internal robotic device 416 may have second end effector 418. Any numberof tools may be associated with second end effector 418. For example,without limitation, at least one of a drilling tool, a fastenerinsertion tool, a fastener installation tool, an inspection tool, orsome other type of tool may be associated with second end effector 418.In particular, any number of fastening tools may be associated withsecond end effector 418.

As depicted, second tool 419 may be associated with second end effector418. In one illustrative example, second tool 419 may be any tool thatis removably associated with second end effector 418. In other words,second tool 419 associated with second end effector 418 may be changedas various operations need to be performed. For example, withoutlimitation, first tool 411 may take the form of one type of tool, suchas a drilling tool, to perform one type of operation. This tool may thenbe exchanged with another type of tool, such as a fastener insertiontool, to become the new first tool 411 associated with first endeffector 410 to perform a different type of operation.

In one illustrative example, second tool 419 may take the form of secondriveting tool 420. Second riveting tool 420 may be associated withsecond end effector 418. Second riveting tool 420 may be used to performriveting operations. In some illustrative examples, a number ofdifferent tools may be exchanged with second riveting tool 420 andassociated with second end effector 418. For example, withoutlimitation, second riveting tool 420 may be exchangeable with a drillingtool, a fastener insertion tool, a fastener installation tool, aninspection tool, or some other type of tool.

Internal mobile platform 406 may be driven from second tower 336 intofuselage assembly 114 and positioned relative to interior 236 offuselage assembly 114 to position second end effector 418 and secondtool 419 associated with second end effector 418 relative to one ofplurality of panels 120. In one illustrative example, internal mobileplatform 406 may be autonomously driven onto one of number of floors 266in FIG. 2 into internal position 422 within fuselage assembly 114relative to fuselage assembly 114. In this manner, second tool 419 maybe macro-positioned into internal position 422 using internal mobileplatform 406.

Once in internal position 422, second end effector 418 may beautonomously controlled to position second tool 419 associated withsecond end effector 418 relative to a particular location on aninterior-facing side of one of plurality of panels 120 or aninterior-facing side of one of plurality of members 122 in FIG. 2 thatmake up support structure 121. In this manner, second tool 419 may bemicro-positioned relative to the particular location.

In one illustrative example, external position 414 for external mobileplatform 404 and internal position 422 for internal mobile platform 406may be selected such that fastening process 424 may be performed atlocation 426 on fuselage assembly 114 using external mobile platform 404and internal mobile platform 406. Fastening process 424 may include anynumber of operations. In one illustrative example, fastening process 424may include at least one of drilling operation 428, fastener insertionoperation 430, fastener installation operation 432, inspection operation434, or some other type of operation.

As one specific example, drilling operation 428 may be performedautonomously using first tool 411 associated with first end effector 410of external mobile platform 404 or second tool 419 associated withsecond end effector 418 of internal mobile platform 406. For example,without limitation, first tool 411 or second tool 419 may take the formof a drilling tool for use in performing drilling operation 428.Drilling operation 428 may be autonomously performed using first tool411 or second tool 419 to form hole 436 at location 426. Hole 436 maypass through at least one of two panels in plurality of panels 120, twomembers of a plurality of members 122, or a panel and one of pluralityof members 122.

Fastener insertion operation 430 may be performed autonomously usingfirst tool 411 associated with first end effector 410 of external mobileplatform 404 or second tool 419 associated with second end effector 418of internal mobile platform 406. Fastener insertion operation 430 mayresult in fastener 438 being inserted into hole 436.

Fastener installation operation 432 may then be performed autonomouslyusing at least one of first tool 411 associated with first end effector410 of external mobile platform 404 or second tool 419 associated withsecond end effector 418 of internal mobile platform 406. In oneillustrative example, fastener installation operation 432 may beperformed autonomously using first tool 411 in the form of firstriveting tool 412 and second tool 419 in the form of second rivetingtool 420 such that fastener 438 becomes rivet 442 installed at location426. Rivet 442 may be a fully installed rivet. Rivet 442 may be one ofplurality of fasteners 264 described in FIG. 2.

In one illustrative example, fastener installation operation 432 maytake the form of bolt-nut type installation process 433. First tool 411associated with first end effector 410 may be used to, for example,without limitation, install bolt 435 through hole 436. Second tool 419associated with second end effector 418 may then be used to install nut437 over bolt 435. In some cases, installing nut 437 may includeapplying a torque sufficient to nut 437 such that a portion of nut 437breaks off. In these cases, nut 437 may be referred to as a frangiblecollar.

In another illustrative example, fastener installation operation 432 maytake the form of interference-fit bolt-type installation process 439.First tool 411 associated with first end effector 410 may be used to,for example, without limitation, install bolt 435 through hole 436 suchthat an interference fit is created between bolt 435 and hole 436.Second tool 419 associated with second end effector 418 may then be usedto install nut 437 over bolt 435.

In yet another illustrative example, fastener installation operation 432may take the form of two-stage riveting process 444. Two-stage rivetingprocess 444 may be performed using, for example, without limitation,first riveting tool 412 associated with external mobile platform 404 andsecond riveting tool 420 associated with internal mobile platform 406.

For example, first riveting tool 412 and second riveting tool 420 may bepositioned relative to each other by external mobile platform 404 andinternal mobile platform 406, respectively. For example, external mobileplatform 404 and external robotic device 408 may be used to positionfirst riveting tool 412 relative to location 426 at exterior 234 offuselage assembly 114. Internal mobile platform 406 and internal roboticdevice 416 may be used to position second riveting tool 420 relative tothe same location 426 at interior 236 of fuselage assembly 114.

First riveting tool 412 and second riveting tool 420 may then be used toperform two-stage riveting process 444 to form rivet 442 at location426. Rivet 442 may join at least two of plurality of panels 120together, a panel in plurality of panels 120 to support structure 121formed by plurality of members 122, or two panels in plurality of panels120 to support structure 121.

In this example, two-stage riveting process 444 may be performed at eachof plurality of locations 446 on fuselage assembly 114 to installplurality of fasteners 264 as described in FIG. 2. Two-stage rivetingprocess 444 may ensure that plurality of fasteners 264 in FIG. 2 areinstalled at plurality of locations 446 with a desired quality anddesired level of accuracy.

In this manner, internal mobile platform 406 may be autonomously drivenand operated inside fuselage assembly 114 to position internal mobileplatform 406 and second riveting tool 420 associated with internalmobile platform 406 relative to plurality of locations 446 on fuselageassembly 114 for performing assembly process 110 described in FIG. 1.Similarly, external mobile platform 404 may be autonomously driven andoperated around fuselage assembly 114 to position external mobileplatform 404 and first riveting tool 412 associated with external mobileplatform 404 relative to plurality of locations 446 on fuselage assembly114 for performing operations 124.

With reference now to FIG. 5, an illustration of a flow of number ofutilities 146 across distributed utility network 144 from FIG. 1 isdepicted in the form of a block diagram in accordance with anillustrative embodiment. As depicted, number of utilities 146 may bedistributed across distributed utility network 144.

Distributed utility network 144 may include, for example, withoutlimitation, number of utility sources 148, utility fixture 150, numberof towers 330, assembly fixture 324, number of external mobile platforms400, and number of utility units 500. In some cases, distributed utilitynetwork 144 may also include number of internal mobile platforms 402. Insome illustrative examples, number of utility sources 148 may beconsidered separate from distributed utility network 144.

In this illustrative example, only one of number of towers 330 may beincluded in distributed utility network 144 at a time. When first tower334 is used, distributed utility network 144 may be formed when utilityfixture 150 is coupled to number of utility sources 148, first tower 334is coupled to utility fixture 150, assembly fixture 324 is coupled tofirst tower 334, and number of external mobile platforms 400 is coupledto number of utility units 500.

Number of utility units 500 may be associated with number of cradlefixtures 314 of assembly fixture 324 or separated from number of cradlefixtures 314. For example, without limitation, a number of dualinterfaces may be created between number of external mobile platforms400, number of utility units 500, and number of cradle fixtures 314using one or more dual-interface couplers.

When second tower 336 is used, distributed utility network 144 may beformed when utility fixture 150 is coupled to number of utility sources148, second tower 336 is coupled to utility fixture 150, assemblyfixture 324 is coupled to second tower 336, number of internal mobileplatforms 402 is coupled to second tower 336, and number of externalmobile platforms 400 is coupled to number of utility units 500, whichmay be associated with number of cradle fixtures 314 or separated fromnumber of cradle fixtures 314. Number of internal mobile platforms 402may receive number of utilities 146 through a number of cable managementsystems associated with second tower 336.

In this manner, number of utilities 146 may be distributed acrossdistributed utility network 144 using a single utility fixture 150. Thistype of distributed utility network 144 may reduce the number of utilitycomponents, utility cables, and other types of devices needed to providenumber of utilities 146 to the various components in distributed utilitynetwork 144. Further, with this type of distributed utility network 144,starting from at least utility fixture 150, number of utilities 146 maybe provided completely above floor 300 of manufacturing environment inFIG. 1.

The illustrative embodiments recognize and take into account that it maybe desirable to have a method and system for mounting wheels to vehiclesthat does not require disassembly of the bases of these vehicles. As oneillustrative example, it may be desirable to have a system forinstalling and removing wheel arm assemblies from autonomous vehicles,such as plurality of autonomous vehicles 306 in FIG. 3, quickly andeasily. Further, it may be desirable to have the capability to installthese types of wheel arm assemblies on a vehicle, such as one ofplurality of autonomous vehicles 306 in FIG. 3, and remove these wheelarm assemblies for maintenance or repair without having to move thevehicle to some other location, disassemble components of the base ofthe vehicle, or take the vehicle out of service during the maintenanceor repair.

Thus, the illustrative embodiments provide a method and apparatus forinstalling a wheel arm assembly at an exterior of a base of a vehicle.Further, the illustrative embodiments provide a method and apparatus forremoving a wheel arm assembly from an exterior of the base of thevehicle without requiring disassembly of any portion of the base of thevehicle.

With reference now to FIG. 6, an illustration of a vehicle is depictedin the form of a block diagram in accordance with an illustrativeembodiment. In this illustrative example, vehicle 600 is an example ofone type of vehicle that may be used to perform operations withinmanufacturing environment 100 in FIG. 1 or some other type ofenvironment. In one illustrative example, vehicle 600 may take the formof autonomous vehicle 601. Autonomous vehicle 601 may be an example ofone of plurality of autonomous vehicles 306 in FIG. 3.

As depicted, vehicle 600 may include base 602, plurality of wheelsystems 604, and plurality of retaining structures 606. In otherillustrative examples, base 602 may be referred to as a platform base.Plurality of wheel systems 604 may be configured for association withbase 602. In particular, plurality of wheel systems 604 may be insertedwithin and held by plurality of retaining structures 606, which may beassociated with base 602.

As one illustrative example, plurality of retaining structures 606 maybe fixedly associated with base 602. Plurality of wheel systems 604 maybe installed in plurality of retaining structures 606. In particular,each of plurality of wheel systems 604 may be installed within acorresponding one of plurality of retaining structures 606.

Wheel system 608 may be an example of one of plurality of wheel systems604. Depending on the implementation, wheel system 608 may take the formof passive wheel system 610 or drive wheel system 612.

In this illustrative example, wheel system 608 may be configured forinstallation in any one of plurality of retaining structures 606. Forexample, wheel system 608 may be installed in retaining structure 614 ofplurality of retaining structures 606. In some illustrative examples,retaining structure 614 may be referred to as boss 615. Retainingstructure 614 may have first end 616 and second end 618. First end 616may be located at exterior 619 of base 602 and second end 618 may belocated within interior 623 of base 602. In some cases, first end 616may be referred to as an outboard-facing end and second end 618 may bereferred to as an inboard-facing end. In this manner, first end 616 maybe referred to as externally-facing end 617 of retaining structure 614.In this manner, first end 616 may be located at or near exterior 619 ofbase 602, while second end 618 may be located inwards.

Wheel system 608 may be coupleable to and decoupleable from retainingstructure 614 at first end 616 of retaining structure 614. As depicted,wheel system 608 may include wheel arm assembly 620, hub assembly 622,and wheel 624. Wheel arm assembly 620 may be coupleable to anddecoupleable from retaining structure 614 at first end 616 of retainingstructure 614.

Wheel arm assembly 620 may be at least partially inserted within firstchannel 625 of retaining structure 614. First channel 625 may extendfrom first end 616 of retaining structure 614 to second end 618 ofretaining structure 614. Wheel arm assembly 620 may be coupled toretaining structure 614 by being inserted into first channel 625 in adirection from first end 616 towards second end 618 of retainingstructure 614.

Hub assembly 622 may be used to connect wheel 624 to wheel arm assembly620. Wheel 624 may take a number of different forms, depending on theimplementation. For example, without limitation, wheel 624 may take theform of one of a mecanum wheel, a holonomic wheel, an omnidirectionalwheel, or some other type of wheel. In this illustrative example, wheel624 may take the form of omnidirectional wheel 626. When wheel 624 takesthe form of omnidirectional wheel 626, wheel system 608 may be referredto as omnidirectional wheel system 627.

In this illustrative example, wheel arm assembly 620 may includeretainer bushing 630, sliding bushing 632, bearing 633, wheel arm 634,and plate 636. An example of one configuration for wheel arm assembly620 and, in particular, retainer bushing 630, sliding bushing 632,bearing 633, wheel arm 634, and plate 636 may be shown in FIG. 23described below.

Retainer bushing 630 may have first end 638 and second end 640. Further,retainer bushing 630 may have flange 642 located at first end 638 ofretainer bushing 630. When wheel arm assembly 620 is coupled to retainerstructure 614, second end 640 of retainer bushing 630 may be referred toas internally-facing end 641 of retainer bushing 630.

Retainer bushing 630 may have second channel 644. Second channel 644 mayextend from first end 638 of retainer bushing 630 to second end 640 ofretainer bushing 630.

Sliding bushing 632 may be coupled to retainer bushing 630. Inparticular, sliding bushing 632 may be press-fit 646 within secondchannel 644 of retainer bushing 630. Sliding bushing 632 may have thirdchannel 648 that extends from first end 647 of sliding bushing 632 tosecond end 649 of sliding bushing 632. Bearing 633 may be positioned atfirst end 638 of retainer bushing 630 and first end 647 of slidingbushing 632 such that bearing 633 overlaps first end 647 of slidingbushing 632 and at least a portion of first end 638 of retainer bushing630.

Wheel arm 634 may be partially located within third channel 648 ofsliding bushing 632. Wheel arm 634 may have first end 653 and second end655. Wheel arm 634 may have first portion 650 at first end 653 andsecond portion 651 at second end 655. First portion 650 of wheel arm 634may be located within third channel 648 of sliding bushing 632. At leastone portion of second portion 651 may be larger in width than firstportion 650. Consequently, second portion 651 of wheel arm 634 mayprotrude externally in a direction away from first end 647 of slidingbushing 632. In other words, second portion 651 may extend past firstend 647 of sliding bushing 632 and first end 638 of retainer bushing630. Second portion 651 may be sufficiently wide such that secondportion 651 of wheel arm 634 overlaps bearing 633. In this manner,bearing 633 may be in contact with wheel arm 634 in addition to retainerbushing 630 and sliding bushing 632.

Plate 636 may be positioned at first end 653 of wheel arm 634 such thatplate 636 overlaps second end 655 of sliding bushing 632 and at leastpartially overlaps second end 640 of retainer bushing 630. Plate 636 maybe fastened to first portion 650 of wheel arm 634 at first end 653 ofwheel arm 634 using set of fasteners 652.

Bearing 633 may apply first force 654 against first end 638 of retainerbushing 630. Plate 636 may apply second force 656 against second end 640of retainer bushing 630 when plate 636 is fastened to first end 653 ofwheel arm 634. First force 654 and second force 656 may substantiallyprevent axial motion of wheel arm 634. In other words, first force 654and second force 656 may substantially prevent motion of wheel arm 634in a direction substantially parallel to wheel axis 657. Wheel axis 657may be a center axis through wheel 624.

Wheel arm assembly 620 may be inserted into first channel 625 ofretaining structure 614. Flange 642 of retainer bushing 630 may then befastened to first end 616 of retaining structure 614 using number offasteners 658. Installing number of fasteners 658 may fully mount, orcouple, wheel arm assembly 620 to retaining structure 614. Hub assembly622 and wheel 624 may then be attached to wheel arm assembly 620 tofully build and install wheel system 608. Number of fasteners 658 may beremoved to remove wheel arm assembly 620 from retaining structure 614.

As depicted, plate 636 may have greatest width 660. Greatest width 660of plate may be less than smallest width 662 of first channel 625 ofretaining structure 614 such that plate 636 may be freely movablethrough first channel 625 of retaining structure 614 in a directionsubstantially parallel to wheel axis 657. Smallest width 664 of plate636 may be greater than greatest width 665 of second channel 644 ofretainer bushing 630 such that plate 636 may at least partially overlapsecond end 640 of retainer bushing 630. In this manner, plate 636 maynot be freely movable through second channel 644 of retainer bushing 630in a direction substantially parallel to wheel axis 657.

In this manner, wheel arm assembly 620, and thereby wheel system 608,may be coupleable to and decoupleable from retaining structure 614, andthereby base 602 of vehicle 600, from exterior 619 of base 602.Consequently, decoupling wheel system 608 from base 602 may not requiredisassembly of other components associated with base 602 or otherinternal components of base 602. The capability to couple wheel armassembly 620 to and decouple wheel arm assembly 620 from base 602 mayallow maintenance of wheel arm assembly 620 and other components ofwheel system 608 to be performed without disrupting the operation ofvehicle 600.

The illustrations in FIGS. 1-6 are not meant to imply physical orarchitectural limitations to the manner in which an illustrativeembodiment may be implemented. Other components in addition to or inplace of the ones illustrated may be used. Some components may beoptional. Also, the blocks are presented to illustrate some functionalcomponents. One or more of these blocks may be combined, divided, orcombined and divided into different blocks when implemented in anillustrative embodiment.

For example, in some cases, more than one flexible manufacturing systemmay be present within manufacturing environment 100. These multipleflexible manufacturing systems may be used to build multiple fuselageassemblies within manufacturing environment 100. In other illustrativeexamples, flexible manufacturing system 106 may include multiple cradlesystems, multiple tower systems, multiple utility systems, multipleautonomous tooling systems, and multiple pluralities of autonomousvehicles such that multiple fuselage assemblies may be built withinmanufacturing environment 100.

In some illustrative examples, utility system 138 may include multipleutility fixtures that are considered separate from flexiblemanufacturing system 106. Each of these multiple utility fixtures may beconfigured for use with flexible manufacturing system 106 and any numberof other flexible manufacturing systems.

Additionally, the different couplings of mobile systems in plurality ofmobile systems 134 may be performed autonomously in these illustrativeexamples. However, in other illustrative example, a coupling of one ofplurality of mobile systems 134 to another one of plurality of mobilesystems 134 may be performed manually in other illustrative examples.

Further, in other illustrative examples, one or more of plurality ofmobile systems 134 may be drivable by, for example, without limitation,a human operator. For example, without limitation, in some cases, firsttower 334 may be drivable with human guidance.

With reference now to FIG. 7, an illustration of an isometric view of amanufacturing environment is depicted in accordance with an illustrativeembodiment. In this illustrative example, manufacturing environment 700may be an example of one implementation for manufacturing environment100 in FIG. 1.

As depicted, manufacturing environment 700 may include holdingenvironment 701 and assembly environment 702. Holding environment 701may be a designated area on and over floor 703 of manufacturingenvironment 700 for storing plurality of flexible manufacturing systems706 when plurality of flexible manufacturing systems 706 are not in use.Each of plurality of flexible manufacturing systems 706 may be anexample of one implementation for flexible manufacturing system 106described in FIGS. 1 and 3-5. In particular, each of plurality offlexible manufacturing systems 706 may be an example of oneimplementation for autonomous flexible manufacturing system 112 in FIG.1.

Holding environment 701 may include plurality of holding cells 704. Inthis illustrative example, each of plurality of holding cells 704 may beconsidered an example of one implementation for holding area 318 in FIG.3. In other illustrative examples, the entire holding environment 701may be considered an example of one implementation for holding area 318in FIG. 3.

Each of plurality of flexible manufacturing systems 706 may be stored ina corresponding one of plurality of holding cells 704. In particular,each of plurality of holding cells 704 may be designated for a specificone of plurality of flexible manufacturing systems 706. However, inother illustrative examples, any one of plurality of holding cells 704may be used for storing any one of plurality of flexible manufacturingsystems 706.

As depicted, flexible manufacturing system 708 may be an example of oneof plurality of flexible manufacturing systems 706. Flexiblemanufacturing system 708 may include plurality of mobile systems 711,which may be an example of one implementation for plurality of mobilesystems 134 in FIGS. 1 and 3.

Flexible manufacturing system 708 may be stored in holding cell 710 ofplurality of holding cells 704. In this example, all of holdingenvironment 701 may be considered an example of one implementation forholding area 318 in FIG. 3. However, in other examples, each ofplurality of holding cells 704 in holding environment 701 may beconsidered an example of one implementation for holding area 318 in FIG.3.

Floor 703 of manufacturing environment 700 may be substantially smoothto allow the various components and systems of plurality of flexiblemanufacturing systems 706 to be autonomously driven across floor 703 ofmanufacturing environment 700 with ease. When one of plurality offlexible manufacturing systems 706 is ready for use, that flexiblemanufacturing system may be driven across floor 703 from holdingenvironment 701 into assembly environment 702.

Assembly environment 702 may be the designated area on and above floor703 for building fuselage assemblies. When none of plurality of flexiblemanufacturing systems 706 are in use, floor 703 of assembly environment702 may be kept substantially open and substantially clear.

As depicted, assembly environment 702 may include plurality of workcells 712. In one illustrative example, each of plurality of work cells712 may be an example of one implementation for assembly area 304 inFIG. 3. Thus, each of plurality of work cells 712 may be designated forperforming a fuselage assembly process, such as assembly process 110 inFIG. 1, for building fuselage assembly 114 in FIG. 1. In otherillustrative examples, the entire assembly environment 702 may beconsidered an example of one implementation for assembly area 304 inFIG. 3.

In this illustrative example, first portion 714 of plurality of workcells 712 may be designated for building forward fuselage assemblies,such as forward fuselage assembly 117 in FIG. 1, while second portion716 of plurality of work cells 712 may be designated for building aftfuselage assemblies, such as aft fuselage assembly 116 in FIG. 1. Inthis manner, plurality of work cells 712 may allow multiple fuselageassemblies to be built concurrently. Depending on the implementation,the building of these fuselage assemblies may begin at the same time orat different times in plurality of work cells 712.

In one illustrative example, plurality of mobile systems 711 that belongto flexible manufacturing system 708 may be driven across floor 703 fromholding cell 710 into work cell 713. Within work cell 713, plurality ofmobile systems 711 may be used to build a fuselage assembly (not shown).An example of one manner in which this fuselage assembly may be builtusing flexible manufacturing system 708 is described in greater detailin FIGS. 8-18 below.

In some illustrative examples, a sensor system may be associated withone or more of plurality of work cells 712. For example, withoutlimitation, in some cases, sensor system 718 may be associated with workcell 719 of plurality of work cells 712. Sensor data generated by sensorsystem 718 may be used to help drive the various mobile systems of thecorresponding one of plurality of flexible manufacturing systems 706designated for building a fuselage assembly within work cell 719. In oneillustrative example, sensor system 718 may take the form of metrologysystem 720.

Depending on the implementation, sensor system 718 may be optional. Forexample, without limitation, other sensor systems are not depictedassociated with other work cells of plurality of work cells 712. Notusing sensors systems such as sensor system 718 may help keep floor 703of manufacturing environment 700 more open and clear to help the variousmobile systems of plurality of flexible manufacturing systems 706 bedriven more freely across floor 703.

As depicted, plurality of utility fixtures 724 may be permanentlyaffixed to floor 703. Each of plurality of utility fixtures 724 may bean example of one implementation for utility fixture 150 in FIG. 1.

Plurality of utility fixtures 724 may be interfaced with a number ofutility sources (not shown in this view). These utility sources (notshown) may be, for example, without limitation, located beneath floor703. Utility fixture 726 may be an example of one of plurality ofutility fixtures 724.

In this illustrative example, each of plurality of utility fixtures 724is located in a corresponding one of plurality of work cells 712. Anyone of plurality of flexible manufacturing systems 706 may be driventowards and interfaced with any one of plurality of utility fixtures724. In this manner, plurality of utility fixtures 724 may be used toprovide one or more utilities to plurality of flexible manufacturingsystems 706.

Referring now to FIGS. 8-18, illustrations of the building of a fuselageassembly within manufacturing environment 700 from FIG. 7 are depictedin accordance with an illustrative embodiment. In FIGS. 8-18, flexiblemanufacturing system 708 from FIG. 7 may be used to build a fuselageassembly. The building of the fuselage assembly may be performed withinany one of plurality of work cells 712 in FIG. 7. For example, withoutlimitation, the building of the fuselage assembly may be performedwithin one of the work cells in second portion 716 of plurality of workcells 712 in FIG. 7.

Turning now to FIG. 8, an illustration of an isometric view of a firsttower coupled to utility fixture 726 from FIG. 7 is depicted inaccordance with an illustrative embodiment. In this illustrativeexample, first tower 800 may be coupled to utility fixture 726. Firsttower 800 may be an example of one of plurality of mobile systems 711 offlexible manufacturing system 708 in FIG. 7. In particular, first tower800 may be an example of one implementation for first tower 334 in FIG.3.

First tower 800 may be at least one of electrically and physicallycoupled to utility fixture 726 such that interface 802 is formed betweenfirst tower 800 and utility fixture 726. Interface 802 may be an exampleof one implementation for interface 342 in FIG. 3.

As depicted, first tower 800 may have base structure 804. Base structure804 may include top platform 806 and bottom platform 807. In some cases,top platform 806 and bottom platform 807 may be referred to as topplatform level and a bottom platform level, respectively. Top platform806 may be used to provide a human operator with access to a top floorof a fuselage assembly (not shown), such as a passenger floor inside thefuselage assembly. Bottom platform 807 may be used to provide a humanoperator with access to a bottom floor of the fuselage assembly (notshown), such as a cargo floor inside the fuselage assembly.

In this illustrative example, walkway 808 may provide access from afloor, such as floor 703 in FIG. 7, to bottom platform 807. Walkway 810may provide access from bottom platform 807 to top platform 806. Railing812 is associated with top platform 806 for the protection of a humanoperator moving around on top platform 806. Railing 814 is associatedwith bottom platform 807 for the protection of a human operator movingaround on bottom platform 807.

First tower 800 may be autonomously driven across floor 703 usingautonomous vehicle 816. Autonomous vehicle 816 may be an automatedguided vehicle (AGV) in this example. Autonomous vehicle 816 may be anexample of one of plurality of autonomous vehicles 306 in FIG. 3. Asdepicted, autonomous vehicle 816 may be used to drive first tower 800from holding environment 701 in FIG. 7 to selected tower position 818relative to utility fixture 726. Selected tower position 818 may be anexample of one implementation for selected tower position 338 in FIG. 3.

Once first tower 800 has been autonomously driven into selected towerposition 818, first tower 800 may autonomously couple to utility fixture726. In particular, first tower 800 may electrically and physicallycouple to utility fixture 726 autonomously to form interface 802. Thistype of coupling may enable a number of utilities to flow from utilityfixture 726 to first tower 800. In this manner, first tower 800 andutility fixture 726 may establish at least a portion of a distributedutility network, similar to distributed utility network 144 described inFIGS. 1 and 5.

With reference now to FIG. 9, an illustration of an isometric view of acradle system is depicted in accordance with an illustrative embodiment.In this illustrative example, cradle system 900 may be an example of oneimplementation for cradle system 308 in FIG. 3. Further, cradle system900 may be an example of one of plurality of mobile systems 711 offlexible manufacturing system 708 in FIG. 7. In this manner, cradlesystem 900 may be an example of one of plurality of mobile systems 711that are stored in holding cell 710 in FIG. 7.

As depicted, cradle system 900 may be comprised of number of fixtures903. Number of fixtures 903 may be an example of one implementation fornumber of fixtures 313 in FIG. 3. Number of fixtures 903 may includenumber of cradle fixtures 902 and fixture 904. Number of cradle fixtures902 may be an example of one implementation for number of cradlefixtures 314 in FIG. 3.

Number of cradle fixtures 902 may include cradle fixture 906, cradlefixture 908, and cradle fixture 910. Fixture 904 may be fixedlyassociated with cradle fixture 906. In this illustrative example,fixture 904 may be considered part of cradle fixture 906. However, inother illustrative examples, fixture 904 may be considered a separatefixture from cradle fixture 906.

As depicted, cradle fixture 906, cradle fixture 908, and cradle fixture910 have base 912, base 914, and base 916, respectively. Number ofretaining structures 918 may be associated with base 912. Number ofretaining structures 920 may be associated with base 914. Number ofretaining structures 922 may be associated with base 916. Each of numberof retaining structures 918, number of retaining structures 920, andnumber of retaining structures 922 may be an example of animplementation for number of retaining structures 326 in FIG. 3.

Each retaining structure in number of retaining structures 918, numberof retaining structures 920, and number of retaining structures 922 mayhave a curved shape that substantially matches a curvature of acorresponding fuselage section to be received by the retainingstructure. Retaining structure 923 may be an example of one of number ofretaining structures 920. As depicted, retaining structure 923 may havecurved shape 925.

Curved shape 925 may be selected such that curved shape 925substantially matches a curvature of a corresponding keel panel (notshown) that is to be engaged with retaining structure 923. Morespecifically, retaining structure 923 may have a substantially sameradius of curvature as a corresponding keel panel (not shown) that is tobe engaged with retaining structure 923.

In this illustrative example, plurality of stabilizing members 924,plurality of stabilizing members 926, and plurality of stabilizingmembers 928 may be associated with base 912, base 914, and base 916,respectively. Plurality of stabilizing members 924, plurality ofstabilizing members 926, and plurality of stabilizing members 928 may beused to stabilize base 912, base 914, and base 916, respectively,relative to floor 703 of manufacturing environment 700.

In one illustrative example, these stabilizing members may keep theirrespective bases substantially level relative to floor 703. Further,each of plurality of stabilizing members 924, plurality of stabilizingmembers 926, and plurality of stabilizing members 928 may substantiallysupport their respective base until that base is to be moved to a newlocation within or outside of manufacturing environment 700. In oneillustrative example, each stabilizing member of plurality ofstabilizing members 924, plurality of stabilizing members 926, andplurality of stabilizing members 928 may be implemented using ahydraulic leg.

Each of number of fixtures 903 may be used to support and hold acorresponding fuselage section (not shown) for a fuselage assembly (notshown) for an aircraft (not shown), such as one of plurality of fuselagesections 205 for fuselage assembly 114 for aircraft 104 in FIG. 2. Forexample, without limitation, fixture 904 may have platform 930associated with base 932. Platform 930 may be configured to support andhold a forward fuselage section (not shown) or an aft fuselage section(not shown) for the aircraft (not shown), depending on theimplementation. The forward fuselage section (not shown) may be theportion of the fuselage assembly (not shown) that is to be closest tothe nose of the aircraft (not shown). The aft fuselage section (notshown) may be the portion of the fuselage assembly (not shown) that isto be closest to the tail of the aircraft (not shown).

With reference now to FIG. 10, an illustration of an isometric view ofan assembly fixture formed using cradle system 900 from FIG. 9 andcoupled to first tower 800 from FIG. 8 is depicted in accordance with anillustrative embodiment. In this illustrative example, cradle fixture910 is coupled to first tower 800 and cradle fixture 910, cradle fixture906, and cradle fixture 908 are coupled to each other.

Cradle fixture 910, cradle fixture 908, and cradle fixture 906 may havebeen autonomously driven across floor 703 of manufacturing environment700 to selected cradle position 1000, selected cradle position 1002, andselected cradle position 1004, respectively, using a number ofcorresponding autonomous vehicles (not shown), such as number ofcorresponding autonomous vehicles 316 from FIG. 3. Driving cradlefixture 906 may also cause fixture 904 to be driven when fixture 904 ispart of cradle fixture 906 as shown. Selected cradle position 1000,selected cradle position 1002, and selected cradle position 1004 may bean example of one implementation for number of selected cradle positions320 in FIG. 3.

After driving cradle fixture 910, cradle fixture 908, and cradle fixture906 to selected cradle position 1000, selected cradle position 1002, andselected cradle position 1004, respectively, the number of correspondingautonomous vehicles (not shown) may be autonomously driven away. Inother illustrative examples, the number of corresponding autonomousvehicles (not shown) may be integrated as part of cradle fixture 910,cradle fixture 908, and cradle fixture 906.

Selected cradle position 1000 may be a position relative to selectedtower position 818 of first tower 800. When cradle fixture 910 is inselected cradle position 1000 relative to first tower 800, cradlefixture 910 may be electrically and physically coupled to first tower800 to form interface 1006. In some cases, cradle fixture 910 may becoupled to first tower 800 autonomously to form interface 1006. In oneillustrative example, interface 1006 may be formed by autonomouslycoupling cradle fixture 910 to first tower 800. Interface 1006 may be anelectrical and physical interface that enables a number of utilitiesthat are flowing from utility fixture 726 to first tower 800 to alsoflow to cradle fixture 910. In this manner, interface 1006 may be formedby autonomously coupling a number of utilities between cradle fixture910 and first tower 800. Interface 1006 may be an example of oneimplementation for interface 340 in FIG. 3. In this illustrativeexample, cradle fixture 910, being coupled to first tower 800, may bereferred to as primary cradle fixture 1011.

Further, as depicted, cradle fixture 906, cradle fixture 908, and cradlefixture 910 may be coupled to each other. In particular, cradle fixture908 may be coupled to cradle fixture 910 to form interface 1008.Similarly, cradle fixture 906 may be coupled to cradle fixture 908 toform interface 1010. In one illustrative example, both interface 1008and interface 1010 may be formed by autonomously coupling these cradlefixtures to each other.

In particular, interface 1008 and interface 1010 may take the form ofelectrical and physical interfaces that enable the number of utilitiesto flow from cradle fixture 910, to cradle fixture 908, and to cradlefixture 906. In this manner, interface 1008 may be formed byautonomously coupling the number of utilities between cradle fixture 910and cradle fixture 908 and interface 1010 may be formed by autonomouslycoupling the number of utilities between cradle fixture 908 and cradlefixture 906. In this manner, number of utilities 146 may be autonomouslycoupled between adjacent cradle fixtures in number of cradle fixtures314.

Thus, when utility fixture 726, first tower 800, cradle fixture 910,cradle fixture 908, and cradle fixture 906 are all coupled in series asdescribed above, the number of utilities may be distributed downstreamfrom utility fixture 726 to first tower 800, cradle fixture 910, cradlefixture 908, and cradle fixture 906. In this illustrative example, anyutilities that flow to cradle fixture 906 may also be distributed tofixture 904.

Any number of coupling units, structural members, connection devices,cables, other types of elements, or combination thereof may be used toform interface 1008 and interface 1010. Depending on the implementation,interface 1008 and interface 1010 may take the form of coupling unitsthat both physically and electrically connect cradle fixture 910, cradlefixture 908, and cradle fixture 906 to each other. In other illustrativeexamples, interface 1008 and interface 1010 may be implemented in someother manner.

When cradle fixture 910, cradle fixture 908, and cradle fixture 906 arein selected cradle position 1000, selected cradle position 1002, andselected cradle position 1004, respectively, and coupled to each other,these cradle fixtures together form assembly fixture 1012. Assemblyfixture 1012 may be an example of one implementation for assemblyfixture 324 in FIG. 3. In this manner, interface 1006 between firsttower 800 and cradle fixture 910 may also be considered an electricaland physical interface between first tower 800 and assembly fixture1012.

With reference now to FIG. 11, an illustration of an isometric view ofone stage in the assembly process for building a fuselage assembly thatis being supported by assembly fixture 1012 from FIG. 10 is depicted inaccordance with an illustrative embodiment. In this illustrativeexample, assembly fixture 1012 may support fuselage assembly 1100 asfuselage assembly 1100 is built on assembly fixture 1012.

Fuselage assembly 1100 may be an aft fuselage assembly that is anexample of one implementation for aft fuselage assembly 116 in FIG. 1.Fuselage assembly 1100 may be partially assembled in this illustrativeexample. Fuselage assembly 1100 may be at an early stage of assembly inthis example.

At this stage of the assembly process, fuselage assembly 1100 includesend panel 1101 and plurality of keel panels 1102. End panel 1101 mayhave a tapered cylindrical shape in this illustrative example. In thismanner, one portion of end panel 1101 may form part of the keel 1105 forfuselage assembly 1100, another portion of end panel 1101 may form partof the sides (not fully shown) for fuselage assembly 1100, and yetanother portion of end panel 1101 may form part of a crown (not fullyshown) for fuselage assembly 1100.

Further, as depicted, bulkhead 1103 may be associated with end panel1101. Bulkhead 1103 may be a pressure bulkhead. Bulkhead 1103 may be anexample of one implementation for bulkhead 272 in FIG. 2.

Plurality of keel panels 1102 include keel panel 1104, keel panel 1106,and keel panel 1108. End panel 1101 and plurality of keel panels 1102have been engaged with assembly fixture 1012. In particular, end panel1101 has been engaged with fixture 904. Keel panel 1104, keel panel1106, and keel panel 1108 have been engaged with cradle fixture 906,cradle fixture 908, and cradle fixture 910, respectively.

In one illustrative example, end panel 1101 is first engaged withfixture 904 with keel panel 1104, keel panel 1106, and keel panel 1108then being successively engaged with cradle fixture 906, cradle fixture,908, and cradle fixture 910, respectively. In this manner, keel 1105 offuselage assembly 1100 may be assembled in a direction from the aft endof fuselage assembly 1100 to the forward end of fuselage assembly 1100.

Each of cradle fixture 906, cradle fixture 908, and cradle fixture 910may be at least one of autonomously or manually adjusted, as needed, toaccommodate plurality of keel panels 1102 such that fuselage assembly1100 may be built to meet outer mold line requirements and inner moldline requirements within selected tolerances. In some cases, at leastone of cradle fixture 906, cradle fixture 908, and cradle fixture 910may have at least one retaining structure that can be adjusted to adaptto the shifting of fuselage assembly 1100 during the assembly processdue to increased loading as fuselage assembly 1100 is built.

As depicted, members 1111 may be associated with end panel 1101 andplurality of keel panels 1102. Members 1111 may include frames andstringers in this illustrative example. However, depending on theimplementation, members 1111 may also include, without limitation,stiffeners, stanchions, intercostal structural members, connectingmembers, other types of structural members, or some combination thereof.The connecting members may include, for example, without limitation,shear clips, ties, splices, intercostal connecting members, other typesof mechanical connecting members, or some combination thereof.

The portion of members 1111 attached to end panel 1101 may form supportsection 1110. The portions of members 1111 attached to keel panel 1104,keel panel 1106, and keel panel 1108 may form support section 1112,support section 1114, and support section 1116, respectively.

In this illustrative example, end panel 1101 may form fuselage section1118 for fuselage assembly 1100. Each of keel panel 1104, keel panel1106, and keel panel 1108 may form a portion of fuselage section 1120,fuselage section 1122, and fuselage section 1124, respectively, forfuselage assembly 1100. Fuselage section 1118, fuselage section 1120,fuselage section 1122, and fuselage section 1124 may together formplurality of fuselage sections 1125 for fuselage assembly 1100. Each offuselage section 1118, fuselage section 1120, fuselage section 1122, andfuselage section 1124 may be an example of one implementation forfuselage section 207 in FIG. 2.

End panel 1101 and plurality of keel panels 1102 may be temporarilyconnected together using temporary fasteners such as, for example,without limitation, tack fasteners. In particular, end panel 1101 andplurality of keel panels 1102 may be temporarily connected to each otheras each of the panels is engaged with assembly fixture 1012 and otherpanels.

For example, without limitation, coordination holes (not shown) may bepresent at the edges of end panel 1101 and each of plurality of keelpanels 1102. In some cases, a coordination hole may pass through a paneland at least one of members 1111 associated with the panel. Engaging onepanel with another panel may include aligning these coordination holessuch that temporary fasteners, such as tack fasteners, may be installedin these coordination holes. In some cases, engaging one panel withanother panel may include aligning a coordination hole through one panelwith a coordination hole through one of members 1111 associated withanother panel.

In yet another illustrative example, engaging a first panel with anotherpanel may include aligning the edges of the two panels to form a buttsplice. These two panels may then be temporarily connected together byaligning a first number of coordination holes in, for example, a spliceplate, with a corresponding number of holes on the first panel andaligning a second number of coordination holes in that splice plate witha corresponding number of holes on the second panel. Temporary fastenersmay then be inserted through these aligned coordination holes totemporarily connect the first panel to the second panel.

In this manner, panels and members may be engaged with each other andtemporarily connected together in a number of different ways. Once endpanel 1101 and plurality of keel panels 1102 have been temporarilyconnected together, assembly fixture 1012 may help maintain the positionand orientation of end panel 1101 and each of plurality of keel panels1102 relative to each other.

Turning now to FIG. 12, an illustration of an isometric view of anotherstage in the assembly process for building a fuselage assembly isdepicted in accordance with an illustrative embodiment. In thisillustrative example, cargo floor 1200 has been added to fuselageassembly 1100. In particular, cargo floor 1200 may be associated withplurality of keel panels 1102.

As depicted, at least a portion of cargo floor 1200 may be substantiallylevel with bottom platform 807 of first tower 800. In particular, atleast the portion of cargo floor 1200 nearest first tower 800 may besubstantially aligned with bottom platform 807 of first tower 800. Inthis manner, a human operator (not shown) may use bottom platform 807 offirst tower 800 to easily walk onto cargo floor 1200 and access interior1201 of fuselage assembly 1100.

As depicted, first side panels 1202 and second side panels 1204 havebeen added to fuselage assembly 1100. First side panels 1202 and secondside panels 1204 may be an example of one implementation for first sidepanels 224 and second side panels 226, respectively, in FIG. 2. Firstside panels 1202, second side panels 1204, and a first and secondportion of end panel 1101 may form sides 1205 of fuselage assembly 1100.In this illustrative example, plurality of keel panels 1102, end panel1101, first side panels 1202, and second side panels 1204 may all betemporarily connected together using, for example, without limitation,tack fasteners.

First side panels 1202 may include side panel 1206, side panel 1208, andside panel 1210 that have been engaged with and temporarily connected tokeel panel 1104, keel panel 1106, and keel panel 1108, respectively.Similarly, second side panels 1204 may include side panel 1212, sidepanel 1214, and side panel 1216 that have been engaged with andtemporarily connected to keel panel 1104, keel panel 1106, and keelpanel 1108, respectively. Further, both side panel 1206 and side panel1212 have been engaged with end panel 1101.

As depicted, members 1218 may be associated with first side panels 1202.Other members (not shown) may be similarly associated with second sidepanels 1204. Members 1218 may be implemented in a manner similar tomembers 1111. In this illustrative example, corresponding portion 1220of members 1218 may be associated with side panel 1206. Correspondingportion 1220 of members 1218 may form support section 1222 associatedwith side panel 1206. Support section 1222 may be an example of oneimplementation for support section 238 in FIG. 2.

With reference now to FIG. 13, an illustration of an isometric view ofanother stage in the assembly process for building a fuselage assemblyis depicted in accordance with an illustrative embodiment. In thisillustrative example, passenger floor 1300 has been added to fuselageassembly 1100. As depicted, passenger floor 1300 may be substantiallylevel with top platform 806 of first tower 800. Human operator 1302 mayuse top platform 806 of first tower 800 to walk onto passenger floor1300 and access interior 1201 of fuselage assembly 1100.

With reference now to FIG. 14, an illustration of an isometric view ofanother stage in the assembly process for building a fuselage assemblyis depicted in accordance with an illustrative embodiment. In thisillustrative example, plurality of crown panels 1400 have been added tofuselage assembly 1100. Plurality of crown panels 1400 may be an exampleof one implementation for crown panels 218 in FIG. 2.

In this illustrative example, plurality of crown panels 1400 may includecrown panel 1402, crown panel 1404, and crown panel 1406. These crownpanels along with a top portion of end panel 1101 may form crown 1407 offuselage assembly 1100. Crown panel 1402 may be engaged with andtemporarily connected to end panel 1101, side panel 1206 shown in FIG.12, side panel 1212, and crown panel 1404. Crown panel 1404 may beengaged with and temporarily connected to crown panel 1402, crown panel1406, side panel 1208 shown in FIG. 12, and side panel 1214. Further,crown panel 1406 may be engaged with and temporarily connected to crownpanel 1404, side panel 1210, and side panel 1216.

Together, end panel 1101, plurality of keel panels 1102, first sidepanels 1202, second side panels 1204, and plurality of crown panels 1400may form plurality of panels 1408 for fuselage assembly 1100. Pluralityof panels 1408 may be an example of one implementation for plurality ofpanels 120 in FIG. 1.

Plurality of panels 1408 may all be temporarily connected to each othersuch that desired compliance with outer mold line requirements and innermold line requirements may be maintained during the building of fuselageassembly 1100. In other words, temporarily connecting plurality ofpanels 1408 to each other may enable outer mold line requirements andinner mold line requirements to be met within selected tolerances duringthe building of fuselage assembly 1100 and, in particular, the joiningof plurality of panels 1408 together.

Members (not shown) may be associated with plurality of crown panels1400 in a manner similar to the manner in which members 1218 areassociated with first side panels 1202. These members associated withplurality of crown panels 1400 may be implemented in a manner similar tomembers 1218 and members 1111 as shown in FIGS. 12-13. The variousmembers associated with end panel 1101, plurality of keel panels 1102,plurality of crown panels 1400, first side panels 1202, and second sidepanels 1204 may form plurality of members 1410 for fuselage assembly1100. When plurality of panels 1408 are joined together, plurality ofmembers 1410 may form a support structure (not yet shown) for fuselageassembly 1100, similar to support structure 131 in FIG. 1.

After plurality of crown panels 1400 have been added to fuselageassembly 1100, first tower 800 may be autonomously decoupled fromassembly fixture 1012 and utility fixture 726. First tower 800 may thenbe autonomously driven away from utility fixture 726 using, for example,without limitation, autonomous vehicle 816 in FIG. 8. In oneillustrative example, first tower 800 may be autonomously driven back toholding environment 701 in FIG. 7.

When first tower 800 is decoupled from assembly fixture 1012 and utilityfixture 726, a gap is formed in the distributed utility network. Thisgap may be filled using a second tower (not shown), implemented in amanner similar to second tower 336 in FIG. 3.

With reference now to FIG. 15, an illustration of an isometric view of asecond tower coupled to utility fixture 726 and assembly fixture 1012supporting fuselage assembly 1100 from FIG. 14 is depicted in accordancewith an illustrative embodiment. In this illustrative example, secondtower 1500 has been positioned relative to assembly fixture 1012 andutility fixture 726. Second tower 1500 may be an example of oneimplementation for second tower 336 in FIG. 3.

Second tower 1500 may be autonomously driven across floor 703 using anautonomous vehicle (not shown), similar to autonomous vehicle 816 inFIG. 8. Second tower 1500 may be autonomously driven into selected towerposition 1518 relative to utility fixture 726. Selected tower position1518 may be an example of one implementation for selected tower position338 in FIG. 3. In this illustrative example, selected tower position1518 may be substantially the same as selected tower position 818 inFIG. 8.

Once second tower 1500 has been autonomously driven into selected towerposition 1518, second tower 1500 may autonomously couple to utilityfixture 726. In particular, second tower 1500 may electrically andphysically couple to utility fixture 726 autonomously to form interface1502. Interface 1502 may be another example of one implementation forinterface 342 in FIG. 3. This type of coupling may enable a number ofutilities to flow from utility fixture 726 to second tower 1500.

Further, second tower 1500 may autonomously couple to cradle fixture910, thereby autonomously coupling to assembly fixture 1012, to forminterface 1505. Interface 1505 may enable the number of utilities toflow downstream from second tower 1500. In this manner, the number ofutilities may flow from second tower 1500 to cradle fixture 910, tocradle fixture 908, and then to cradle fixture 906. In this manner,second tower 1500 may fill the gap in the distributed utility networkthat was created when first tower 800 in FIG. 14 was decoupled fromassembly fixture 1012 and utility fixture 726 and driven away.

Similar to first tower 800 in FIG. 8, second tower 1500 may include basestructure 1504, top platform 1506, and bottom platform 1507. However,top platform 1506 and bottom platform 1507 may be used to provideinternal mobile platforms with access to interior 1201 of fuselageassembly 1100 instead of human operators.

In this illustrative example, internal mobile platform 1508 may bepositioned on top platform 1506. Top platform 1506 may be substantiallyaligned with passenger floor 1300 such that internal mobile platform1508 may be able to autonomously drive across top platform 1506 ontopassenger floor 1300.

Similarly, an internal mobile platform (not shown in this view) may bepositioned on bottom platform 1507. Bottom platform 1507 may besubstantially aligned with cargo floor 1200 (not shown in this view)from FIG. 12 such that this other internal mobile platform (not shown inthis view) may be able to autonomously drive across bottom platform 1507onto the cargo floor. Internal mobile platform 1508 and the otherinternal mobile platform (not shown in this view) may be examples ofimplementations for internal mobile platform 406 in FIG. 4.

As depicted, internal robotic device 1510 and internal robotic device1512 may be associated with internal mobile platform 1508. Althoughinternal robotic device 1510 and internal robotic device 1512 are shownassociated with the same internal mobile platform 1508, in otherillustrative examples, internal robotic device 1510 may be associatedwith one internal mobile platform and internal robotic device 1512 maybe associated with another internal mobile platform. Each of internalrobotic device 1510 and internal robotic device 1512 may be an exampleof one implementation for internal robotic device 416 in FIG. 4.

Internal robotic device 1510 and internal robotic device 1512 may beused to perform operations within interior 1201 of fuselage assembly1100 for joining plurality of panels 1408. For example, withoutlimitation, internal robotic device 1510 and internal robotic device1512 may be used to perform fastening operations, such as rivetingoperations, within interior 1201 of fuselage assembly 1100.

In one illustrative example, utility box 1520 may be associated withbase structure 1504. Utility box 1520 may manage the number of utilitiesreceived from utility fixture 726 through interface 1502 and maydistribute these utilities into utility cables that are managed usingcable management system 1514 and cable management system 1516.

As depicted in this example, cable management system 1514 may beassociated with top platform 1506 and cable management system 1516 maybe associated with bottom platform 1507. Cable management system 1514and cable management system 1516 may be implemented similarly.

Cable management system 1514 may include cable wheels 1515 and cablemanagement system 1516 may include cable wheels 1517. Cable wheels 1515may be used to spool utility cables that are connected to internalmobile platform 1508. For example, without limitation, cable wheels 1515may be biased in some manner to substantially maintain a selected amountof tension in the utility cables. This biasing may be achieved using,for example, one or more spring mechanisms.

As internal mobile platform 1508 moves away from second tower 1500 alongpassenger floor 1300, the utility cables may extend from cable wheels1515 to maintain utility support to internal mobile platform 1508 andmanage the utility cables such that they do not become tangled. Cablewheels 1517 may be implemented in a manner similar to cable wheels 1515.

By using cable wheels 1515 to spool the utility cables, the utilitycables may be kept off of internal mobile platform 1508, therebyreducing the weight of internal mobile platform 1508 and the loadapplied by internal mobile platform 1508 to passenger floor 1300. Thenumber of utilities provided to internal mobile platform 1508 mayinclude, for example, without limitation, electricity, air, water,hydraulic fluid, communications, some other type of utility, or somecombination thereof.

With reference now to FIG. 16, an illustration of an isometric cutawayview of a plurality of mobile platforms performing fastening processeswithin interior 1201 of fuselage assembly 1100 is depicted in accordancewith an illustrative embodiment. In this illustrative example, pluralityof mobile platforms 1600 may be used to perform fastening processes tojoin plurality of panels 1408 together.

In particular, plurality of panels 1408 may be joined together atselected locations along fuselage assembly 1100. Plurality of panels1408 may be joined to form at least one of lap joints, butt joints, orother types of joints. In this manner, plurality of panels 1408 may bejoined such that at least one of circumferential attachment,longitudinal attachment, or some other type of attachment is createdbetween the various panels of plurality of panels 1408.

As depicted, plurality of mobile platforms 1600 may include internalmobile platform 1508 and internal mobile platform 1601. Internal mobileplatform 1508 and internal mobile platform 1601 may be an example of oneimplementation for number of internal mobile platforms 402 in FIG. 4.Internal mobile platform 1508 may be configured to move along passengerfloor 1300, while internal mobile platform 1601 may be configured tomove along cargo floor 1200.

As depicted, internal robotic device 1602 and internal robotic device1604 may be associated with internal mobile platform 1601. Each ofinternal robotic device 1602 and internal robotic device 1604 may be anexample of one implementation for internal robotic device 416 in FIG. 4.Internal robotic device 1602 and internal robotic device 1604 may besimilar to internal robotic device 1510 and internal robotic device1512.

Plurality of mobile platforms 1600 may also include external mobileplatform 1605 and external mobile platform 1607. External mobileplatform 1605 and external mobile platform 1607 may be an example of oneimplementation for at least a portion of number of external mobileplatforms 400 in FIG. 4. External mobile platform 1605 and externalmobile platform 1607 may be examples of implementations for externalmobile platform 404 in FIG. 4.

External robotic device 1606 may be associated with external mobileplatform 1605. External robotic device 1608 may be associated withexternal mobile platform 1607. Each of external robotic device 1606 andexternal robotic device 1608 may be an example of one implementation forexternal robotic device 408 in FIG. 4.

As depicted, external robotic device 1606 and internal robotic device1512 may work collaboratively to install fasteners autonomously infuselage assembly 1100. These fasteners may take the form of, forexample, without limitation, at least one of rivets, interference-fitbolts, non-interference-fit bolts, or other types of fasteners orfastener systems. Similarly, external robotic device 1608 and internalrobotic device 1604 may work collaboratively to install fastenersautonomously in fuselage assembly 1100. As one illustrative example, endeffector 1610 of internal robotic device 1512 and end effector 1612 ofexternal robotic device 1606 may be positioned relative to a samelocation 1620 on fuselage assembly 1100 to perform a fastening processat location 1620, such as fastening process 424 in FIG. 4.

The fastening process may include at least one of, for example, withoutlimitation, a drilling operation, a fastener insertion operation, afastener installation operation, an inspection operation, or some othertype of operation. The fastener installation operation may take the formof, for example, without limitation, two-stage riveting process 444described in FIG. 4, interference-fit bolt-type installation process 439described in FIG. 4, bolt-nut type installation process 433 described inFIG. 4, or some other type of fastener installation operation.

In this illustrative example, autonomous vehicle 1611 may be fixedlyassociated with external mobile platform 1605. Autonomous vehicle 1611may be used to drive external mobile platform 1605 autonomously. Forexample, autonomous vehicle 1611 may be used to autonomously driveexternal mobile platform 1605 across floor 703 of manufacturingenvironment 700 relative to assembly fixture 1012.

Similarly, autonomous vehicle 1613 may be fixedly associated withexternal mobile platform 1607. Autonomous vehicle 1613 may be used todrive external mobile platform 1607 autonomously. For example,autonomous vehicle 1613 may be used to autonomously drive externalmobile platform 1607 across floor 703 of manufacturing environment 700relative to assembly fixture 1012.

By being fixedly associated with external mobile platform 1605 andexternal mobile platform 1607, autonomous vehicle 1611 and autonomousvehicle 1613 may be considered integral to external mobile platform 1605and external mobile platform 1607, respectively. However, in otherillustrative examples, these autonomous vehicles may be independent ofthe external mobile platforms in other illustrative examples.

Once all fastening processes have been completed for fuselage assembly1100, internal mobile platform 1508 and internal mobile platform 1601may be autonomously driven across passenger floor 1300 back onto topplatform 1506 and bottom platform 1507, respectively, of second tower1500. Second tower 1500 may then be autonomously decoupled from bothutility fixture 726 and assembly fixture 1012. Autonomous vehicle 1614may then be used to autonomously drive or move second tower 1500 away.

In this illustrative example, building of fuselage assembly 1100 may nowbe considered completed for this stage in the overall assembly processfor the fuselage. Consequently, assembly fixture 1012 may beautonomously driven across floor 703 to move fuselage assembly 1100 tosome other location. In other illustrative examples, first tower 800from FIG. 8 may be autonomously driven back into selected tower position818 in FIG. 8 relative to utility fixture 726. First tower 800 from FIG.8 may then be autonomously recoupled to utility fixture 726 and assemblyfixture 1012. First tower 800 from FIG. 8 may enable a human operator(not shown) to access interior 1201 of fuselage assembly 1100 to performother operations including, but not limited to, at least one ofinspection operations, fastening operations, system installationoperations, or other types of operations. System installation operationsmay include operations for installing systems such as, for example,without limitation, at least one of a fuselage utility system, an airconditioning system, interior panels, electronic circuitry, some othertype of system, or some combination thereof.

With reference now to FIG. 17, an illustration of a cross-sectional viewof flexible manufacturing system 708 performing operations on fuselageassembly 1100 from FIG. 16 is depicted in accordance with anillustrative embodiment. In this illustrative example, a cross-sectionalview of fuselage assembly 1100 from FIG. 16 is depicted taken in thedirection of lines 17-17 in FIG. 16.

As depicted, internal mobile platform 1508 and internal mobile platform1601 are performing operations within interior 1201 of fuselage assembly1100. External mobile platform 1605 and external mobile platform 1607are performing assembly operations along exterior 1700 of fuselageassembly 1100.

In this illustrative example, external mobile platform 1605 may be usedto perform operations along portion 1702 of exterior 1700 between axis1704 and axis 1706 at first side 1710 of fuselage assembly 1100.External robotic device 1606 of external mobile platform 1605 may workcollaboratively with internal robotic device 1510 of internal mobileplatform 1508 to perform fastening processes.

Similarly, external mobile platform 1607 may be used to performoperations along portion 1708 of exterior 1700 of fuselage assembly 1100between axis 1704 and axis 1706 at second side 1712 of fuselage assembly1100. External robotic device 1608 of external mobile platform 1607 maywork collaboratively with internal robotic device 1604 of internalmobile platform 1601 to perform fastening processes.

Although external mobile platform 1605 is depicted as being located atfirst side 1710 of fuselage assembly 1100, external mobile platform 1605may be autonomously driven by autonomous vehicle 1611 to second side1712 of fuselage assembly 1100 to perform operations along portion 1711of exterior 1700 of fuselage assembly 1100 between axis 1704 and axis1706. Similarly, external mobile platform 1607 may be autonomouslydriven by autonomous vehicle 1613 to second side 1712 of fuselageassembly 1100 to perform operations along portion 1713 of exterior 1700of fuselage assembly 1100 between axis 1704 and axis 1706.

Although not shown in this illustrative example, an external mobileplatform similar to external mobile platform 1605 may have an externalrobotic device configured to work collaboratively with internal roboticdevice 1512 of internal mobile platform 1508 at second side 1712 offuselage assembly 1100. Similarly, an external mobile platform similarto external mobile platform 1607 may have an external robotic deviceconfigured to work collaboratively with internal robotic device 1602 ofinternal mobile platform 1601 at first side 1710 of fuselage assembly1100.

These four different external mobile platforms and two internal mobileplatforms may be controlled such that the operations performed byinternal mobile platform 1508 located on passenger floor 1300 may occurat a different location with respect to the longitudinal axis offuselage assembly 1100 than the operations performed by internal mobileplatform 1601 located on cargo floor 1200. The four external mobileplatforms may be controlled such that the two external mobile platformslocated on the same side of fuselage assembly 1100 do not collide orimpede one another. The two external mobile platforms located at thesame side of fuselage assembly 1100 may be unable to occupy the samefootprint in this illustrative example.

In this illustrative example, external mobile platform 1605 mayautonomously couple to assembly fixture 1012 to form interface 1722 suchthat a number of utilities may flow from assembly fixture 1012 toexternal mobile platform 1605. In other words, the number of utilitiesmay be autonomously coupled between external mobile platform 1605 andassembly fixture 1012 through interface 1722. In particular, externalmobile platform 1605 has been coupled to cradle fixture 910 throughinterface 1722.

Similarly, external mobile platform 1607 may autonomously couple toassembly fixture 1012 to form interface 1724 such that a number ofutilities may flow from assembly fixture 1012 to external mobileplatform 1607. In other words, the number of utilities may beautonomously coupled between external mobile platform 1607 and assemblyfixture 1012 through interface 1724. In particular, external mobileplatform 1607 has been coupled to cradle fixture 910 through interface1724.

As operations are performed along fuselage assembly 1100 by externalmobile platform 1605, external mobile platform 1607, and any otherexternal mobile platforms, these external mobile platforms may becoupled to and decoupled from assembly fixture 1012 as needed. Forexample, external mobile platform 1607 may decouple from cradle fixture910 as external mobile platform 1607 moves aftward along fuselageassembly 1100 such that external mobile platform 1607 may thenautonomously couple to cradle fixture 908 (not shown) from FIGS. 9-16.Further, these external mobile platforms may be coupled to and decoupledfrom assembly fixture 1012 to avoid collisions and prevent the externalmobile platforms from impeding each other during maneuvering of theexternal mobile platforms relative to assembly fixture 1012 and fuselageassembly 1100.

As depicted, autonomous vehicle 1714 is shown positioned under theassembly fixture 1012 formed by cradle system 900. In this illustrativeexample, autonomous vehicle 1714, autonomous vehicle 1611, andautonomous vehicle 1613 may have omnidirectional wheels 1716,omnidirectional wheels 1718, and omnidirectional wheels 1720,respectively. In some illustrative examples, metrology system 1726 maybe used to help position external mobile platform 1605 and externalmobile platform 1607 relative to fuselage assembly 1100.

Turning now to FIG. 18, an illustration of an isometric view of a fullybuilt fuselage assembly is depicted in accordance with an illustrativeembodiment. In this illustrative example, fuselage assembly 1100 may beconsidered completed when plurality of panels 1408 have been fullyjoined.

In other words, all fasteners needed to join together plurality ofpanels 1408 have been fully installed. With plurality of panels 1408joined together, support structure 1800 may be fully formed. Supportstructure 1800 may be an example of one implementation for supportstructure 121 in FIG. 1. Fuselage assembly 1100, which is an aftfuselage assembly, may now be ready for attachment to a correspondingmiddle fuselage assembly (not shown) and forward fuselage assembly (notshown).

As depicted, autonomous vehicles (not shown in this view), similar toautonomous vehicle 1614 shown in FIG. 16, may be positioned under base912 of cradle fixture 906, base 914 of cradle fixture 908, and base 916of cradle fixture 910, respectively. Autonomous vehicles, such as numberof corresponding autonomous vehicles 316 in FIG. 3, may lift up base912, base 914, and base 916, respectively, such that plurality ofstabilizing members 924, plurality of stabilizing members 926, andplurality of stabilizing members 928, respectively, no longer contactthe floor.

These autonomous vehicles (not shown) may then autonomously drive cradlesystem 900 carrying fuselage assembly 1100 that has been fully builtaway from assembly environment 702 in FIG. 7 and, in some cases, awayfrom manufacturing environment 700 in FIG. 7. Computer-controlledmovement of these autonomous vehicles (not shown) may ensure that numberof cradle fixtures 902 maintain their positions relative to each otheras fuselage assembly 1100 is being moved.

With reference now to FIG. 19, an illustration of an isometric view offuselage assemblies being built within manufacturing environment 700 isdepicted in accordance with an illustrative embodiment. In thisillustrative example, plurality of fuselage assemblies 1900 are beingbuilt within plurality of work cells 712 in manufacturing environment700.

Plurality of fuselage assemblies 1900 may include plurality of forwardfuselage assemblies 1901 being built in first portion 714 of pluralityof work cells 712 and plurality of aft fuselage assemblies 1902 beingbuilt in second portion 716 of plurality of work cells 712. Each ofplurality of fuselage assemblies 1900 may be an example of oneimplementation for fuselage assembly 114 in FIG. 1.

As depicted, plurality of fuselage assemblies 1900 are being builtconcurrently. However, plurality of fuselage assemblies 1900 are atdifferent stages of assembly in this illustrative example.

Forward fuselage assembly 1904 may be an example of one of plurality offorward fuselage assemblies 1901. Forward fuselage assembly 1904 may bean example of one implementation for forward fuselage assembly 117 inFIG. 1. Aft fuselage assembly 1905 may be an example of one of pluralityof aft fuselage assemblies 1902. Aft fuselage assembly 1905 may be anexample of one implementation for aft fuselage assembly 116 in FIG. 1.In this illustrative example, aft fuselage assembly 1905 may be at anearlier stage of assembly than forward fuselage assembly 1904.

Aft fuselage assembly 1906, which may be another example of animplementation for aft fuselage assembly 116 in FIG. 1, may be afuselage assembly with all panels joined. As depicted, aft fuselageassembly 1906 is being autonomously driven to some other location for anext stage in the overall fuselage and aircraft manufacturing process.

As described above, aft fuselage assembly 1905 may be partiallyassembled. In this illustrative example, aft fuselage assembly 1905 haskeel 1910, end panel 1911, and first side 1912. End panel 1911 may forman end fuselage section of aft fuselage assembly 1905. As depicted, sidepanel 1914 may be added to aft fuselage assembly 1905 to build a secondside of aft fuselage assembly 1905.

Forward fuselage assembly 1915 may be another example of one ofplurality of forward fuselage assemblies 1901. In this illustrativeexample, forward fuselage assembly 1915 has keel 1916 and end panel1918. End panel 1918 may form an end fuselage section of forwardfuselage assembly 1915. As depicted, side panel 1920 may be added toforward fuselage assembly 1915 to begin building a first side of forwardfuselage assembly 1915.

With reference now to FIG. 20, an illustration of an isometric view of aportion of an autonomous vehicle is depicted in accordance with anillustrative embodiment. In this illustrative example, autonomousvehicle 2000 may be an example of one implementation for one ofplurality of autonomous vehicles 306 in FIG. 3. Further, autonomousvehicle 2000 may be an example of one implementation for autonomousvehicle 601 in FIG. 1.

As depicted, autonomous vehicle 2000 may have base 2001. Plurality ofwheel systems 2002 may be associated with base 2001. Base 2001 andplurality of wheel systems 2002 may be examples of implementations forbase 602 and plurality of wheel systems 604, respectively, in FIG. 6.

Plurality of wheel systems 2002 may include wheel system 2004 and wheelsystem 2006. In this illustrative example, wheel system 2004 may takethe form of passive wheel system 2005 and wheel system 2006 may take theform of drive wheel system 2007. Passive wheel system 2005 and drivewheel system 2007 may be examples of implementations for passive wheelsystem 610 and drive wheel system 612 in FIG. 6.

Wheel system 2004 may include omnidirectional wheel 2008 and wheelsystem 2006 may include omnidirectional wheel 2010. Omnidirectionalwheel 2008 and omnidirectional wheel 2010 may be examples ofimplementations for omnidirectional wheel 626 in FIG. 6.

In this illustrative example, wheel system 2004 may be coupleable to anddecoupleable from base 2001 of vehicle 2000 at exterior 2012. Similarly,wheel system 2006 may be coupleable to and decoupleable from base 2001of vehicle 2000 at exterior 2012. Each of wheel system 2004 and wheelsystem 2006 may include a wheel arm assembly (not shown in this view)implemented in a manner similar to wheel arm assembly 620 in FIG. 6.

Turning now to FIGS. 21-23, illustrations of wheel system 2006 from FIG.20 are depicted in accordance with an illustrative embodiment. In FIG.21, an illustration of an enlarged isometric view of wheel system 2006from FIG. 20 without omnidirectional wheel 2010 is depicted inaccordance with an illustrative embodiment. In this illustrativeexample, an enlarged view of wheel system 2006 from FIG. 20 is depictedtaken in the direction of lines 21-21 in FIG. 20 without omnidirectionalwheel 2010 in FIG. 20. As depicted, portion 2100 of base 2001 is shownin phantom view such that wheel motor 2102 may be seen.

In this illustrative example, wheel system 2006 may include wheel armassembly 2104 and hub assembly 2105. Wheel arm assembly 2104 and hubassembly 2105 may be examples of implementations for wheel arm assembly620 and hub assembly 622 in FIG. 2. Wheel arm assembly 2104 may includeretainer bushing 2106 and wheel arm 2108. Retainer bushing 2106 ismounted to base 2001 by number of fasteners 2110. Number of fasteners2110 may be an example of one implementation for number of fasteners 658in FIG. 6.

As depicted, wheel arm axis 2112 and wheel axis 2114 may pass throughwheel arm assembly 2104. Wheel arm axis 2112 may be a geometric centeraxis through wheel arm 2108. Wheel axis 2114 may be a center axisthrough omnidirectional wheel 2010 in FIG. 20 and hub assembly 2105.

Wheel arm 2108 may include first portion 2116 and second portion 2117.First portion 2116 of wheel arm 2108 may be attached to damper 2118. Asdepicted, damper 2118 may be attached to base 2001 directly. Damper 2118may transfer forces applied to omnidirectional wheel 2010 in FIG. 20during operation of autonomous vehicle 2000 to base 2001. In particular,damper 2118 may be integrated with a hydraulic system (not shown).Second portion 2117 of wheel arm 2108 may be coupled to base 2001through retainer bushing 2106.

Turning now to FIG. 22, an illustration of a front view of wheel system2006 from FIG. 21 is depicted in accordance with an illustrativeembodiment. In this illustrative example, a front view of wheel system2006 is depicted taken in the direction of lines 22-22 in FIG. 21. Inthis illustrative example, the attachment of first portion 2116 of wheelarm 2108 to damper 2118 may be more clearly seen.

In FIG. 23, an illustration of a cross-sectional view of wheel system2006 coupled to base 2001 of vehicle 2000 is depicted in accordance withan illustrative embodiment. In this illustrative example, across-sectional view of wheel system 2006 from FIG. 21 is depicted takenin the direction of lines 23-23 in FIG. 23.

As depicted, in addition to retainer bushing 2106 and wheel arm 2108,wheel arm assembly 2104 may include sliding bushing 2300, plate 2302,set of fasteners 2304, and bearing 2306. Sliding bushing 2300, plate2302, set of fasteners 2304, and bearing 2306 may be examples ofimplementations for sliding bushing 632, plate 636, set of fasteners652, and bearing 633, respectively, in FIG. 6.

In this illustrative example, retaining structure 2308 may be seen.Retaining structure 2308 may be integrated with base 2001 in thisexample. Retaining structure 2308 may be an example of oneimplementation for retaining structure 614 in FIG. 6. As depicted,retaining structure 2308 may have first end 2310, second end 2312, andfirst channel 2314 that extends from first end 2310 to second end 2312.First end 2310, second end 2312, and first channel 2314 may be examplesof implementations for first end 616, second end 618, and first channel625 in FIG. 6.

Retainer bushing 2106 may be located within first channel 2314. Retainerbushing 2106 has first end 2316, second end 2318, and second channel2320 that extends from first end 2316 to second end 2318. First end2316, second end 2318, and second channel 2320 may be examples ofimplementations for first end 638, second end 640, and second channel644 in FIG. 6. Retainer bushing 2106 may have flange 2315 at first end2316 of retainer bushing 2106. Flange 2315 may be an example of oneimplementation for flange 642 in FIG. 6.

Sliding bushing 2300 may be press-fit within second channel 2320 ofretainer bushing 2106. Sliding bushing 2300 may have first end 2322,second end 2324, and third channel 2326 that extends from first end 2322to second end 2324. First end 2322, second end 2324, and third channel2326 may be examples of implementations for first end 647, second end649, and third channel 648, respectively, in FIG. 6.

Wheel arm 2108 may be located with sliding bushing 2300. Wheel arm 2108may have first end 2328 and second end 2330. Wheel arm 2108 may havefirst portion 2332 located at first end 2328 and second portion 2334located at second end 2330. First end 2328, second end 2330, firstportion 2323, and second portion 2334 may be examples of implementationsfor first end 653, second end 655, first portion 650, and second portion651, respectively, from FIG. 6.

First portion 2332 may be located within third channel 2326 of slidingbushing 2300. Second portion 2334 may protrude outside of third channel2326 in a direction that extends past first end 2322 of sliding bushing2300.

In this illustrative example, bearing 2306 may be located between wheelarm 2108 and retainer bushing 2106. In particular, bearing 2306 mayoverlap first end 2322 of sliding bushing 2300 and at least partiallyoverlap first end 2310 of retainer bushing 2106.

Plate 2302 may be fastened to first end 2328 of wheel arm 2108. Plate2302 may fully overlap first end 2328 of wheel arm 2108 and second end2324 of sliding bushing 2300 and at least partially overlap second end2318 of retainer bushing 2106. In this manner, fastening plate 2302 towheel arm 2108 may attach wheel arm 2108 to retaining structure 2308such that wheel arm 2108 is not movable relative to retaining structure2308.

Bearing 2306 may apply first force 2336 against first end 2316 ofretainer bushing 2106, while plate 2302 may apply second force 2338against second end 2318 of retainer bushing 2106. In this manner, axialmotion of wheel arm 2108 in a direction substantially parallel to wheelaxis 2114 shown in FIG. 21 may be prevented.

Further, number of fasteners 2110 may fasten retainer bushing 2106 toretaining structure 2308. Number of fasteners 2110 may couple wheel armassembly 2104, and thereby wheel system 2006 to base 2001 of vehicle2000. Wheel arm assembly 2104 may be easily decoupled from base 2001 andremoved from retaining structure 2308 by removing number of fasteners2110. When number of fasteners 2110 is removed and wheel arm assembly2104 decoupled from retaining structure 2308, plate 2302 may freely movethrough and out of first channel 2314 of retaining structure 2308.

The illustrations of manufacturing environment 700 in FIGS. 7-23 are notmeant to imply physical or architectural limitations to the manner inwhich an illustrative embodiment may be implemented. Other components inaddition to or in place of the ones illustrated may be used. Somecomponents may be optional.

The different components shown in FIGS. 7-23 may be illustrativeexamples of how components shown in block form in FIGS. 1-6 can beimplemented as physical structures. Additionally, some of the componentsin FIGS. 7-23 may be combined with components in FIGS. 1-6, used withcomponents in FIG. 1-6, or a combination of the two.

With reference now to FIG. 24, an illustration of a process forinstalling a wheel arm assembly for a vehicle is depicted in the form ofa flowchart in accordance with an illustrative embodiment. The processillustrated in FIG. 24 may be used to install wheel arm assembly 620 forvehicle 600 in FIG. 6.

The process may begin by inserting wheel arm assembly 620 into base 602of vehicle 600 from exterior 619 of base 602 (operation 2400). In somecases, vehicle 600 may be autonomous vehicle 601 in FIG. 6. In operation2400, wheel arm assembly 620 may be inserted into first channel 625 ofretaining structure 614 associated with base 602 in a direction fromfirst end 616 of retaining structure to second end 628 of retainingstructure 614.

Next, number of fasteners 658 may be installed at exterior 619 of base602 to attach wheel arm assembly 620 to base 602 of vehicle 600(operation 2402), with the process terminating thereafter. In operation2402, number of fasteners 658 may be installed to attach retainerbushing 630 to first end 616 of retaining structure 614, where first end616 is the externally-facing, or outboard-facing end, of retainingstructure 614.

First end 616 of retaining structure 614 may be easily accessiblewithout having to disassemble any components of base 602 of vehicle 600.In this manner, wheel arm assembly 620 may be coupleable to base 602 ofvehicle 600 without requiring disassembly of vehicle 600 or takingvehicle 600 out of service.

With reference now to FIG. 25, an illustration of a process for removinga wheel arm assembly from a vehicle is depicted in the form of aflowchart in accordance with an illustrative embodiment. The processillustrated in FIG. 25 may be used to remove wheel arm assembly 620 fromvehicle 600 in FIG. 6.

The process may begin by removing number of fasteners 658 that attachwheel arm assembly 620 to base 602 of vehicle 600 from exterior 619 ofbase 602 of vehicle 600 (operation 2500). In particular, in operation2500, number of fasteners 658 that attach retainer bushing 630 toretaining structure 614 at first end 616 of retaining structure 614 maybe removed.

In some cases, vehicle 600 may be autonomous vehicle 601 in FIG. 6.Next, wheel arm assembly 620 may be removed from base 602 of vehicle 600(operation 2502), with the process terminating thereafter. In operation2502, retainer bushing 630 may be pulled out of retaining structure 614associated with base 602.

With reference now to FIG. 26, an illustration of a process forassembling and installing a wheel arm assembly for an autonomous vehicleis depicted in the form of a flowchart in accordance with anillustrative embodiment. The process illustrated in FIG. 26 may be usedto assemble and install, for example, without limitation, wheel armassembly 620 for autonomous vehicle 601 in FIG. 6.

The process may begin by inserting sliding bushing 632 into retainerbushing 630 at first end 638 of retainer bushing 630 to press-fit 646sliding bushing 632 within retainer bushing 630 (operation 2600). Next,bearing 633 may be positioned the first end 638 of retainer bushing 630(operation 2602). Then, wheel arm 634 may be inserted into slidingbushing 632 at first end 638 of retainer bushing 630 such that firstportion 650 of wheel arm 634 is located within sliding bushing 632, suchthat second portion 651 of wheel arm 634 extends past first end 638 ofretainer bushing 630, and such that bearing 633 contacts wheel arm 634,sliding bushing 634, and first end 638 of retainer bushing 630(operation 2604).

Thereafter, plate 636 may be attached to wheel arm 634 at second end 640of retainer bushing 630 using set of fasteners 652 such that plate 636at least partially overlaps second end 640 of retainer bushing 630 andsuch that sliding bushing 632, retainer bushing 630, wheel arm 634, andplate 636 together form wheel arm assembly 620 (operation 2606). Next,wheel arm assembly 620 may be inserted into retaining structure 614associated with base 602 of autonomous vehicle 601 in a direction fromfirst end 616 of retaining structure 614 to second end 618 of retainingstructure 614 (operation 2608).

Then, number of fasteners 658 may be installed to attach first end 638of retainer bushing 630 of wheel arm assembly 620 to first end 616 ofretaining structure (operation 2610), with the process terminatingthereafter. With this type of process, wheel arm assembly 620 may bequickly and easily decoupled from retaining structure 614 and thereby,autonomous vehicle 601, by removing number of fasteners 658.

The flowcharts and block diagrams in the different depicted embodimentsillustrate the architecture, functionality, and operation of somepossible implementations of apparatuses and methods in an illustrativeembodiment. In this regard, each block in the flowcharts or blockdiagrams may represent a module, a segment, a function, and/or a portionof an operation or step.

In some alternative implementations of an illustrative embodiment, thefunction or functions noted in the blocks may occur out of the ordernoted in the figures. For example, in some cases, two blocks shown insuccession may be executed substantially concurrently, or the blocks maysometimes be performed in the reverse order, depending upon thefunctionality involved. Also, other blocks may be added in addition tothe illustrated blocks in a flowchart or block diagram.

The illustrative embodiments of the disclosure may be described in thecontext of aircraft manufacturing and service method 2700 as shown inFIG. 27 and aircraft 2800 as shown in FIG. 28. Turning first to FIG. 27,an illustration of an aircraft manufacturing and service method isdepicted in the form of a block diagram in accordance with anillustrative embodiment. During pre-production, aircraft manufacturingand service method 2700 may include specification and design 2702 ofaircraft 2800 in FIG. 28 and material procurement 2704.

During production, component and subassembly manufacturing 2706 andsystem integration 2708 of aircraft 2800 in FIG. 28 takes place.Thereafter, aircraft 2800 in FIG. 28 may go through certification anddelivery 2710 in order to be placed in service 2712. While in service2712 by a customer, aircraft 2800 in FIG. 28 is scheduled for routinemaintenance and service 2714, which may include modification,reconfiguration, refurbishment, and other maintenance or service.

Each of the processes of aircraft manufacturing and service method 2700may be performed or carried out by at least one of a system integrator,a third party, or an operator. In these examples, the operator may be acustomer. For the purposes of this description, a system integrator mayinclude, without limitation, any number of aircraft manufacturers andmajor-system subcontractors; a third party may include, withoutlimitation, any number of vendors, subcontractors, and suppliers; and anoperator may be an airline, a leasing company, a military entity, aservice organization, and so on.

With reference now to FIG. 28, an illustration of an aircraft isdepicted in the form of a block diagram in which an illustrativeembodiment may be implemented. In this example, aircraft 2800 isproduced by aircraft manufacturing and service method 2700 in FIG. 27and may include airframe 2802 with plurality of systems 2804 andinterior 2806. Examples of systems 2804 include one or more ofpropulsion system 2808, electrical system 2810, hydraulic system 2812,and environmental system 2814. Any number of other systems may beincluded. Although an aerospace example is shown, different illustrativeembodiments may be applied to other industries, such as the automotiveindustry.

Apparatuses and methods embodied herein may be employed during at leastone of the stages of aircraft manufacturing and service method 2700 inFIG. 27. In particular, flexible manufacturing system 106 from FIG. 1may be used to build at least a portion of airframe 2802 of aircraft2800 during any one of the stages of aircraft manufacturing and servicemethod 2700. For example, without limitation, flexible manufacturingsystem 106 from FIG. 1 may be used during at least one of component andsubassembly manufacturing 2706, system integration 2708, or some otherstage of aircraft manufacturing and service method 2700 to form afuselage for aircraft 2800.

In one illustrative example, components or subassemblies produced incomponent and subassembly manufacturing 2706 in FIG. 27 may befabricated or manufactured in a manner similar to components orsubassemblies produced while aircraft 2800 is in service 2712 in FIG.27. As yet another example, one or more apparatus embodiments, methodembodiments, or a combination thereof may be utilized during productionstages, such as component and subassembly manufacturing 2706 and systemintegration 2708 in FIG. 27. One or more apparatus embodiments, methodembodiments, or a combination thereof may be utilized while aircraft2800 is in service 2712, during maintenance and service 2714 in FIG. 27,or both. The use of a number of the different illustrative embodimentsmay substantially expedite the assembly of and reduce the cost ofaircraft 2800.

The description of the different illustrative embodiments has beenpresented for purposes of illustration and description, and is notintended to be exhaustive or limited to the embodiments in the formdisclosed. Many modifications and variations will be apparent to thoseof ordinary skill in the art. Further, different illustrativeembodiments may provide different features as compared to otherdesirable embodiments. The embodiment or embodiments selected are chosenand described in order to best explain the principles of theembodiments, the practical application, and to enable others of ordinaryskill in the art to understand the disclosure for various embodimentswith various modifications as are suited to the particular usecontemplated.

What is claimed is:
 1. An apparatus comprising: a retaining structureassociated with a base of a vehicle and a wheel arm assembly coupleableto the retaining structure at an exterior of the base; wherein theretaining structure has a first channel, the wheel arm assemblycomprises a retainer bushing, and the retainer bushing comprises a firstend, a second end, and a second channel that extends from the first endof the retainer bushing to the second end of the retainer bushing. 2.The apparatus of claim 1, wherein the wheel arm assembly is coupleableto the retaining structure from a first end of the retaining structurelocated at the exterior of the base.
 3. The apparatus of claim 1,wherein the wheel arm assembly is coupleable from the exterior of thebase without requiring disassembly of any portion of the base.
 4. Theapparatus of claim 1, wherein the retaining structure comprises: a firstend that faces externally with respect to the vehicle; and a second endthat faces internally with respect to the vehicle.
 5. The apparatus ofclaim 4, wherein the retaining structure has a first channel thatextends from the first end to the second end and wherein the wheel armassembly is located within the first channel when the wheel arm assemblyis coupled to the retaining structure.
 6. The apparatus of claim 1,wherein the retainer bushing enables coupling and decoupling of thewheel arm assembly from the exterior of the base.
 7. The apparatus ofclaim 1, wherein the retainer bushing comprises: a flange at a first endof the retainer bushing.
 8. The apparatus of claim 7, wherein the flangeoverlaps a first end of the retaining structure when the wheel armassembly is coupled to the retaining structure.
 9. The apparatus ofclaim 1, wherein the wheel arm assembly further comprises: a number offasteners that attach the retainer bushing to the retaining structure.10. The apparatus of claim 9, wherein the number of fasteners attach theretainer bushing to a first end of the retaining structure at theexterior of the base.
 11. The apparatus of claim 1, wherein the wheelarm assembly further comprises: a sliding bushing located within asecond channel of the retainer bushing, wherein the sliding bushing hasa third channel.
 12. The apparatus of claim 11, wherein the wheel armassembly further comprises: a wheel arm, wherein a first portion of thewheel arm is located within the third channel of the sliding bushing andwherein a second portion of the wheel arm extends past a first end ofthe retainer bushing.
 13. The apparatus of claim 12, wherein the wheelarm assembly further comprises: a bearing located at the first end ofthe retainer bushing.
 14. The apparatus of claim 13, wherein the bearingcontacts the retainer bushing, the sliding bushing, and the wheel arm.15. The apparatus of claim 13, wherein the wheel arm assembly furthercomprises: a plate; and a set of fasteners that attach the plate to thewheel arm.
 16. The apparatus of claim 15, wherein the bearing applies afirst force against the first end of the retainer bushing and the plateapplies a second force against a second end of the retainer bushing. 17.The apparatus of claim 16, wherein the first force and the second forcesubstantially prevent axial motion of the wheel arm.
 18. The apparatusof claim 15, wherein a greatest width of the plate is less than asmallest width of the first channel of the retaining structure such thatthe plate is freely movable through the first channel of the retainingstructure in a direction substantially parallel to a wheel axis.
 19. Theapparatus of claim 15, wherein a smallest width of the plate is greaterthan a greatest width of the second channel of the retainer bushing suchthat the plate overlaps an internally-facing end of the retainer bushingsuch that the plate is not freely moveable within the second channel ofthe retainer bushing in a direction substantially parallel to a wheelaxis.
 20. The apparatus of claim 1, wherein the vehicle is an autonomousvehicle.
 21. The apparatus of claim 1 further comprising: a hub assemblyassociated with a wheel arm.
 22. The apparatus of claim 21 furthercomprising: a wheel associated with the hub assembly and the wheel arm.23. The apparatus of claim 22, wherein the wheel is selected from one ofan omnidirectional wheel, a holonomic wheel, and a mecanum wheel.
 24. Anapparatus comprising: a wheel arm assembly that is removably associatedwith a retaining structure in an autonomous vehicle at anexternally-facing end of the retaining structure; wherein the wheel armassembly further comprises a wheel arm, the retainer bushing is locatedaround a first portion of the wheel arm, and a second portion of thewheel arm extends past a first end of the retainer bushing.
 25. Theapparatus of claim 24, wherein the wheel arm assembly comprises: aretainer bushing that enables the wheel arm assembly to be coupled toand decoupled from the retaining structure.
 26. The apparatus of claim24, wherein the wheel arm assembly further comprises: a sliding bushinglocated between the wheel arm and the retainer bushing.
 27. Theapparatus of claim 24, wherein the wheel arm assembly further comprises:a plate; and a set of fasteners that attach the plate to the wheel armat a second end of the retainer bushing such that the plate at leastpartially overlaps the second end of the retainer bushing.
 28. A methodfor installing a wheel arm assembly for an autonomous vehicle, themethod comprising: inserting the wheel arm assembly into a base of theautonomous vehicle from an exterior of the base; installing a number offasteners at the exterior of the base to attach the wheel arm assemblyto the base of the autonomous vehicle; and assembling the wheel armassembly, wherein assembling the wheel arm assembly comprises insertinga sliding bushing into a retainer bushing at a first end of the retainerbushing to press-fit the sliding bushing within the retainer bushing.29. The method of claim 28, wherein inserting the wheel arm assemblycomprises: inserting the wheel arm assembly into a first channel of aretaining structure associated with the base.
 30. The method of claim28, wherein the wheel arm assembly comprises: inserting the wheel armassembly into a retaining structure in a direction from a first end ofthe retaining structure to a second end of the retaining structure. 31.The method of claim 28 further comprising: removing the number offasteners to decouple a retainer bushing from a retaining structure; andremoving the wheel arm assembly from the retaining structure.
 32. Themethod of claim 28, wherein assembling the wheel arm assembly comprises:inserting a wheel arm into the sliding bushing at the first end of theretainer bushing such that a first portion of the wheel arm isoverlapped by the retainer bushing and a second portion of the wheel armextends past the first end of the retainer bushing.
 33. The method ofclaim 32, wherein assembling the wheel arm assembly further comprises:attaching a plate to the wheel arm at a second end of the retainerbushing using a set of fasteners such that the plate at least partiallyoverlaps the second end of the retainer bushing.
 34. The method of claim33, wherein assembling the wheel arm assembly comprises: positioning abearing between the wheel arm and the first end of the retainer bushingsuch that the bearing contacts the wheel arm, the sliding bushing, andthe first end of the retainer busing.